Insertion and extraction device and component mounting system

Abstract

To provide an insertion and extraction device capable of appropriately inserting and extracting a plurality of component supply members with respect to a mounting machine, and a component mounting system comprising the same.SOLUTION: An insertion and extraction device comprises a support including a support unit which supports a feeder, a conveyance body which conveys the support, an insertion and extraction unit which performs an insertion and extraction work for inserting and extracting the feeder with respect to a mounting machine, and a control unit. The conveyance body includes a plurality of abutment parts which is abutted to the support from below and a plurality of lift parts respectively independently lifting the plurality of abutment parts. The control unit is capable of performing at least one of posture adjustment control and distance adjustment control during an insertion and extraction preparation period. The control unit adjusts a posture of the support by lifting the plurality of abutment parts by the plurality of lift parts in the posture adjustment control and adjusts a distance of movement of the feeder in a case where the insertion and extraction unit performs the insertion and the extraction work in the distance adjustment control.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an insertion / removal device that inserts and removes a component supply member into and from a mounting machine, and a component mounting system including the same. [Background technology]

[0002] A mounting machine produces mounted boards by mounting components supplied by multiple component supply members onto a board. In such a mounting machine, a component supply member that has run out of components is recovered by being removed from the mounting machine, and a new component supply member is inserted into the mounting machine in response to the removal to replenish the stock. In other words, the mounting machine performs insertion and removal of component supply members, including removal and insertion of component supply members.

[0003] Patent Document 1 discloses a carrier tape supply device that supplies carrier tape to a feeder serving as a component supply member provided in a mounting machine. The carrier tape supply device includes a base that holds a carrier tape transfer mechanism and a positioning unit that regulates the positional relationship between the base and the mounting machine. The carrier tape supply device is positioned relative to the mounting machine by the positioning unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-64678 Summary of the Invention [Problem to be solved by the invention]

[0005] It is assumed that the technology related to the carrier tape supply device disclosed in Patent Document 1 is applied to an insertion / removal device that inserts and removes component supply members from a mounting machine. In this case, the insertion / removal device is positioned relative to the mounting machine by a positioning unit. However, when the insertion / removal device positioned relative to the mounting machine inserts and removes multiple component supply members, vibrations caused by the insertion / removal operation may cause the device to change its posture or become misaligned relative to the mounting machine. In this case, it becomes difficult to properly insert and remove multiple component supply members from the mounting machine.

[0006] An object of the present invention is to provide an insertion / removal device that can appropriately insert and remove a plurality of component supply members into and from a mounting machine, and a component mounting system that includes the same. [Means for solving the problem]

[0007] According to one aspect of the present invention, an insertion / removal device is an apparatus for inserting and removing a component supply member into and from a mounting machine that mounts components on a circuit board. The insertion / removal device includes a support body having a support unit supporting a plurality of the component supply members, a transport body that transports the support body, an insertion / removal unit that performs an insertion / removal operation to insert and remove the component supply member into and from the mounting machine by moving the component supply member between the support unit and the mounting machine while the support body transported by the transport body is positioned next to the mounting machine, and a control unit that controls the transport body and the insertion / removal unit. The transport body includes a plurality of abutting portions that abut against the support body from below and a plurality of elevating portions that independently raise and lower the abutting portions. The control unit is configured to perform at least one of attitude adjustment control and distance adjustment control during the insertion / removal operation of the insertion / removal unit into and from the mounting machine during an insertion / removal preparation period between the completion of the insertion / removal operation for one of the component supply members and the start of the insertion / removal operation for another of the component supply members. In the attitude adjustment control, the control unit adjusts the attitude of the support body that is in contact with the multiple abutment portions by raising and lowering the multiple abutment portions using the multiple lifting sections, and in the distance adjustment control, it adjusts the movement distance of the other component supply members when the insertion / removal unit performs the insertion / removal work of the other component supply members.

[0008] According to this insertion / removal device, while the support body transported by the transport body is positioned to the side of the mounting machine, the insertion / removal unit moves the component supply members between the support unit and the mounting machine, thereby enabling the insertion / removal of multiple component supply members with respect to the mounting machine. In this case, the control unit is configured to be able to perform at least one of posture adjustment control and distance adjustment control during an insertion / removal preparation period for each insertion / removal operation of the insertion / removal unit that targets the multiple component supply members.

[0009] The control unit adjusts the attitude of the support during attitude adjustment control. Even if the attitude of the support changes from the normal attitude to an abnormal attitude after the insertion / removal unit finishes inserting or removing one component supply member, the control unit can adjust the attitude of the support to the normal attitude before starting an insertion / removal operation for another component supply member. This allows the insertion / removal unit to properly insert or remove multiple component supply members into or from the mounting machine.

[0010] In addition, the control unit adjusts the movement distance of the component supply member during the insertion / removal operation of the insertion / removal unit in the distance adjustment control. This allows the control unit to adjust the movement distance of the other component supply member during insertion / removal before starting the insertion / removal operation of the other component supply member, even if the support member is misaligned with the mounting machine after the insertion / removal operation of the insertion / removal unit for one component supply member is completed, causing the distance between the support member and the mounting machine to be abnormally different from the normal distance. This allows the insertion / removal unit to properly insert and remove multiple component supply members from the mounting machine.

[0011] In the above-described insertion / extraction device, the control unit may perform each of the attitude adjustment control and the distance adjustment control during the insertion / extraction preparation period.

[0012] In this aspect, the control unit performs both the attitude adjustment control and the distance adjustment control, so that the insertion / removal unit can more reliably and appropriately insert and remove the multiple component supply members into and from the mounting machine.

[0013] The insertion / removal device may further include a posture detection unit that detects a posture index value related to the posture of the support body. In this case, the control unit performs the posture adjustment control when the posture index value is outside a predetermined posture tolerance range.

[0014] In this aspect, the control unit can efficiently perform attitude adjustment control based on the detection result of the attitude detection section that detects an attitude index value related to the attitude of the support body.

[0015] In the above-described insertion / removal device, the attitude detection unit may detect the attitude index value each time the insertion / removal unit performs the insertion / removal operation.

[0016] In this aspect, the control unit monitors the detection result of the attitude detection section detected every time the insertion / removal unit is inserted or removed, and can perform attitude adjustment control based on the monitored detection result.

[0017] In the above-described insertion / removal device, the attitude detection section may continuously detect the attitude index value while the insertion / removal unit is performing the insertion / removal operation.

[0018] In this aspect, the control unit monitors the detection results of the attitude detection section that are continuously detected during the insertion and removal operation of the insertion and removal unit, and can perform attitude adjustment control based on the monitored detection results.

[0019] The above-mentioned insertion / removal device may further include a distance detection unit that detects a distance index value relating to the distance between the support body and the mounting machine. In this case, the control unit performs the distance adjustment control when the distance index value is outside a predetermined distance tolerance range.

[0020] In this aspect, the control unit can efficiently perform distance adjustment control based on the detection result of the distance detection section that detects a distance index value related to the distance between the support body and the mounting machine.

[0021] In the above-described insertion / removal device, the distance detection section may detect the distance index value each time the insertion / removal unit performs the insertion / removal operation.

[0022] In this aspect, the control unit monitors the detection result of the distance detection section detected every time the insertion / removal unit is inserted or removed, and can perform distance adjustment control based on the monitored detection result.

[0023] In the above-described insertion / removal device, the distance detection section may continuously detect the distance index value while the insertion / removal unit is performing the insertion / removal operation.

[0024] In this aspect, the control unit monitors the detection results of the distance detection section that are continuously detected during the insertion and removal operation of the insertion and removal unit, and can perform distance adjustment control based on the monitored detection results.

[0025] The above-mentioned insertion / removal device may further include an attitude detection unit that detects an attitude index value related to the attitude of the support, and a distance detection unit that detects a distance index value related to the distance between the support and the mounting machine. In this case, the control unit performs the attitude adjustment control when the attitude index value is outside a predetermined attitude tolerance range, and performs the distance adjustment control when the distance index value is outside a predetermined distance tolerance range.

[0026] In this aspect, the control unit can efficiently perform attitude adjustment control based on the detection result of the attitude detection section, and can also efficiently perform distance adjustment control based on the detection result of the distance detection section.

[0027] A component mounting system according to another aspect of the present invention includes a mounter that mounts components on a board, and the above-described insertion / removal device that inserts and removes a component supply member into and from the mounter. [Effects of the Invention]

[0028] As described above, according to the present invention, it is possible to provide an insertion / removal device that can appropriately insert and remove a plurality of component supply members into and from a mounting machine, and a component mounting system that includes the same. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a cross-sectional view showing a configuration of a component mounting system to which an insertion / removal device according to an embodiment of the present invention is applied; [Figure 2] FIG. 2 is a perspective view schematically showing a support member of the insertion / extraction device. [Figure 3] FIG. 2 is a perspective view schematically showing a carrier of the insertion / extraction device. [Figure 4]10 is a perspective view illustrating the positional relationship between a positioning plate fixed to a support body of the insertion / removal device and a guide unit of the mounting machine. FIG. [Figure 5] 10A and 10B are diagrams illustrating the attitude of the support when the feeder is inserted into or removed from the mounting machine by the insertion / removal device. [Figure 6] 10A and 10B are diagrams illustrating the distance between the support body and the mounting machine when the feeder is inserted into or removed from the mounting machine by the insertion / removal device. [Figure 7] 10 is a timing chart when the control unit drives each driving unit. [Figure 8] 4 is a flowchart showing a control flow of a control unit. DETAILED DESCRIPTION OF THE INVENTION

[0030] An insertion / removal device and a component mounting system according to an embodiment of the present invention will be described below with reference to the drawings. In the following description, directional relationships will be described using XYZ Cartesian coordinates. That is, directions perpendicular to each other on a horizontal plane will be referred to as the X-axis direction and the Y-axis direction, and a vertical direction perpendicular to the X-axis direction and the Y-axis direction will be referred to as the Z-axis direction. Furthermore, one side in the X-axis direction will be referred to as the +X side, and the other side opposite the one side in the X-axis direction will be referred to as the -X side. Furthermore, one side in the Y-axis direction will be referred to as the +Y side, and the other side opposite the one side in the Y-axis direction will be referred to as the -Y side. Furthermore, the side above one side in the Z-axis direction will be referred to as the upper side, and the side below the one side opposite the one side in the Z-axis direction will be referred to as the lower side.

[0031] 1 is a cross-sectional view showing the configuration of a component mounting system 1 to which an insertion / removal device 3 according to an embodiment of the present invention is applied. The component mounting system 1 is a system that produces mounted boards on which components such as electronic components are mounted on a board such as a printed circuit board. The component mounting system 1 includes a mounting machine 2 and an insertion / removal device 3. In the component mounting system 1, the mounting machine 2 performs a mounting operation of mounting components on the board, and the insertion / removal device 3 performs an insertion / removal operation of inserting and removing a feeder F, which is a component supply member, into and from the mounting machine 2.

[0032] The feeder F is a component supplying member that supplies components. The feeder F is, for example, a tape feeder that supplies components using tape as a carrier. In this case, the feeder F supplies components by feeding a component storage tape that can store multiple components. The feeder F also has an upper positioning pin F1, a lower positioning pin F2, and a feeder-side connector F3. The upper positioning pin F1 and the lower positioning pin F2 are pins that protrude from the +X side end of the feeder F in the X-axis direction. The upper positioning pin F1 and the lower positioning pin F2 are arranged at an interval in the Z-axis direction at the +X side end of the feeder F, with the upper positioning pin F1 located above the lower positioning pin F2. The +X side end of the feeder F has a stepped portion recessed toward the -X side relative to the portion where the upper positioning pin F1 and the lower positioning pin F2 are provided. The feeder-side connector F3 is provided at this stepped portion of the feeder F. The feeder-side connector F3 is a connector that is electrically connected to the control board of the feeder F.

[0033] [Mounting machine configuration] The mounting machine 2 includes a mounting machine main body 21, a transport conveyor 22, a head unit 23, and a component supply unit 24.

[0034] The mounting machine main body 21 is a housing having an internal space in which the components of the mounting machine 2 are arranged. The transport conveyor 22 extends in the Y-axis direction and is arranged in an approximately central region inside the mounting machine main body 21. The transport conveyor 22 transports boards in the Y-axis direction. The head unit 23 mounts components on the boards transported by the transport conveyor 22. The head unit 23 retrieves components from feeders F arranged in the component supply unit 24 and mounts the retrieved components on the boards. The head unit 23 is equipped with multiple suction nozzles 231. The suction nozzles 231 are holders capable of suctioning and holding components. The suction nozzles 231 can be connected to a negative pressure generator, a positive pressure generator, or the atmosphere via an electric switching valve. In other words, supplying negative pressure to the suction nozzles 231 enables the suction nozzles 231 to suction and hold components, and then supplying positive pressure releases the suction and holding of the components.

[0035] The component supply unit 24 is disposed in an end region on the -X side of the mounting machine main body 21. The component supply unit 24 has a lower frame 25 and a rear frame 26 as frames for forming a plurality of feeder support parts that support the feeders F that supply components in an insertable and removable manner. The lower frame 25 and the rear frame 26 arrange the plurality of feeder support parts side by side in the Y-axis direction.

[0036] The lower frame 25 is a plate-shaped frame extending in the X-axis and Y-axis directions. The lower frame 25 is disposed at the end of the mounting machine main body 21 on the -X side so that its -X-side area is exposed to the outside from the mounting machine main body 21 and its +X-side area is housed within the mounting machine main body 21. The lower frame 25 has a protrusion 25A that protrudes upward in the area housed within the mounting machine main body 21. The upper surface of the lower frame 25 is a horizontal plane extending in the X-axis and Y-axis directions, and a plurality of support rails 251 extending in the X-axis direction are formed on the upper surface and aligned in the Y-axis direction. The plurality of support rails 251 are rail members that guide the lower end of the feeder F when the feeder F is inserted into or removed from the component supply unit 24 and support the feeder F inserted into the component supply unit 24. In addition, a plurality of unit-side connectors 252 are aligned in the Y-axis direction on the -X-side surface of the protrusion 25A of the lower frame 25. The unit-side connector 252 is a connector that is electrically connected to the control unit of the mounting machine 2. The unit-side connector 252 is connected to the feeder-side connector F3 of the feeder F when the feeder F is inserted into the support rail 251.

[0037] The rear frame 26 is a plate-shaped frame extending in the Y-axis direction and the Z-axis direction, and is disposed inside the mounting machine main body 21 at a position closer to the center of the mounting machine main body 21 than the +X-side end of the lower frame 25. The rear frame 26 is formed with a plurality of upper pin insertion holes 261 and a plurality of lower pin insertion holes 262. The plurality of upper pin insertion holes 261 are formed in the rear frame 26 and aligned in the Y-axis direction. The upper pin insertion holes 261 allow the upper positioning pins F1 of the feeder F to pass through when the feeder F is inserted into the support rail 251. On the other hand, when the feeder F is removed from the support rail 251, the insertion of the upper positioning pins F1 into the upper pin insertion holes 261 is released. The plurality of lower pin insertion holes 262 are formed in the rear frame 26 and aligned in the Y-axis direction at positions lower than the upper pin insertion holes 261. The lower pin insertion holes 262 allow the insertion of the lower positioning pins F2 of the feeder F when the feeder F is inserted into the support rail 251. On the other hand, when the feeder F is removed from the support rail 251, the insertion of the lower positioning pins F2 into the lower pin insertion holes 262 is released. The feeder F is positioned with respect to the support rail 251 on the lower frame 25 by inserting the upper positioning pins F1 into the upper pin insertion holes 261 and inserting the lower positioning pins F2 into the lower pin insertion holes 262.

[0038] When mounting boards are produced by the mounting machine 2, multiple types of components are mounted on each board. Furthermore, different types of components are mounted on different types of boards. For this reason, multiple feeders F are supported by support rails 251 and arranged in the Y-axis direction within the component supply unit 24. As described above, the upper surface of the lower frame 25, on which the support rails 251 supporting the multiple feeders F are formed, is a horizontal plane extending in the X-axis and Y-axis directions.

[0039] In the mounting machine 2, a feeder F that has run out of components or the like among the multiple feeders F supported on each support rail 251 on the lower frame 25 in the component supply unit 24 is recovered by being pulled out from the support rail 251, and a new feeder F is replenished by being inserted into the support rail 251 in response to the pulling out. That is, in the mounting machine 2, insertion and removal of feeders F is performed, including the insertion and removal of feeders F from and into the support rails 251 on the lower frame 25 in the component supply unit 24. The insertion and removal work of feeders F from and into the support rails 251 on the lower frame 25 in the component supply unit 24 is performed by an insertion and removal device 3.

[0040] 1, the mounting machine 2 further includes a guide unit 27. The guide unit 27 guides the insertion / removal device 3 to be positioned at the insertion / removal operation position when the insertion / removal device 3 performs the insertion / removal operation of the feeder F. The guide unit 27 is disposed below the lower frame 25 of the component supply unit 24 in the end area on the -X side of the mounting machine main body 21. The guide unit 27 has a guide portion 28 exposed outward on the -X side from the mounting machine main body 21.

[0041] The guide section 28 will be described with reference to Fig. 4, which will be described later, in addition to Fig. 1. The guide section 28 allows a positioning plate 48 of the insertion / removal device 3, which will be described later, to enter from the -X side to the +X side along the X-axis direction, thereby guiding the insertion / removal device 3 to be positioned at a working position on the -X side relative to the component supply unit 24. The guide section 28 has a pair of first guide plates 281 spaced apart in the Y-axis direction, and a pair of second guide plates 282 and a pair of third guide plates 283 that are provided corresponding to the pair of first guide plates 281.

[0042] The pair of first guide plates 281 are flat, vertically oriented members extending in the X-axis and Z-axis directions. The pair of first guide plates 281 are provided on both sides in the Y-axis direction of the entry path of the positioning plate 48, which enters the guide section 28 from the -X side to the +X side along the X-axis direction, and sandwich the positioning plate 48 that has entered the guide section 28 from both sides in the Y-axis direction. The pair of second guide plates 282 are flat, horizontally oriented members extending in the X-axis and Y-axis directions. The pair of second guide plates 282 are horizontal, flat plates that protrude from the upper ends of the pair of first guide plates 281 toward the inside in the Y-axis direction (the entry path side along which the positioning plate 48 enters). The pair of second guide plates 282 face from above the positioning plate 48 that has entered the entry path between the pair of first guide plates 281. The pair of third guide plates 283 are flat, vertically oriented members extending in the Y-axis and Z-axis directions. The pair of third guide plates 283 are vertical flat plates connected to the +X side ends of the pair of first guide plates 281 and the pair of second guide plates 282. The pair of third guide plates 283 face, from the +X side, the positioning plate 48 that has entered the entry path between the pair of first guide plates 281.

[0043] [About the insertion / removal device] <Configuration of the insertion / removal device> The insertion / removal device 3 is a device that performs insertion / removal work of inserting and removing a feeder F into and from each support rail 251 on the lower frame 25 in the component supply unit 24 of the mounting machine 2. The insertion / removal device 3 recovers a feeder F that has run out of components or the like from among the multiple feeders F supported by each support rail 251 on the lower frame 25 by removing it from the support rail 251, and replenishes the feeder F by inserting a new feeder F into the support rail 251 in response to the removal.

[0044] The insertion / extraction device 3 will be described with reference to Figures 2 to 6 in addition to Figure 1. The insertion / extraction device 3 includes a support body 4, a support unit 5, an insertion / extraction unit 6, and a transport body .

[0045] The support body 4 is a box-shaped housing having an opening 40. When the insertion / removal device 3 is disposed at a work position on the -X side with respect to the component supply unit 24 of the mounting machine 2, the opening 40 of the support body 4 opens on the +X side and faces the component supply unit 24. In other words, the opening 40 is defined by the +X side edges of the upper surface portion 41 and the lower surface portion 42 of the support body 4. The insertion / removal operation of inserting and removing the feeder F into and from each support rail 251 on the lower frame 25 in the component supply unit 24 is performed through the opening 40 of the support body 4. A support unit 5 and an insertion / removal unit 6 are disposed in the internal space between the upper surface portion 41 and the lower surface portion 42 of the support body 4.

[0046] The support unit 5 has a horizontal, flat plate-like shape extending in the X-axis and Y-axis directions, and has multiple support parts 51 provided on its upper surface. The multiple support parts 51 are configured with rails extending in the X-axis direction and are arranged side by side in the Y-axis direction on the support unit 5. The support unit 5 supports the feeders F by the multiple support parts 51 so that they can be inserted and removed. In the support unit 5, a feeder F removed from the support rails 251 in the component supply unit 24 is inserted into a support part 51, and the feeder F is collected by the support unit 5. Meanwhile, a feeder F supported by a support part 51 on the support unit 5 is removed from the support part 51 and inserted into the support rails 251 in the component supply unit 24, and the feeder F is supplied to the component supply unit 24. The support unit 5 is movable within a predetermined allowable movement range in the Y-axis direction, which is the arrangement direction of the multiple support parts 51, inside the support body 4. The support unit 5 moves in the Y-axis direction in response to the drive of the support drive part 52.

[0047] The insertion / removal unit 6 is disposed above the support unit 5 inside the support body 4. With the insertion / removal device 3 disposed at a work position on the -X side of the component supply unit 24, the insertion / removal unit 6 moves the feeder F between the support unit 5 and the component supply unit 24 to perform an insertion / removal operation of inserting and removing the feeder F into and from each support rail 251 in the component supply unit 24. The insertion / removal unit 6 includes a guide rail 60, an arm 61, and a hand 62.

[0048] The guide rail 60 is a rail member fixed to the upper surface portion 41 inside the support body 4 and extending in the Y-axis direction. The arm 61 has a rod-like shape extending in the X-axis direction and is attached to the guide rail 60 so as to be movable along the Y-axis direction. In this case, the arm 61 is movable in the space above the support unit 5 inside the support body 4 in the Y-axis direction, which is the arrangement direction of the support portions 51 on the support unit 5. The movement of the arm 61 in the Y-axis direction along the guide rail 60 is performed in response to driving of an arm driver 611. The hand 62 is a gripper capable of gripping the feeder F. The hand 62 is attached to the arm 61 so as to be movable along the arm 61 in the X-axis direction. The movement of the hand 62 in the X-axis direction along the arm 61 is performed in response to driving of a hand driver 621. The hand 62 moves in the space above the support unit 5 inside the support body 4 in the X-axis direction along which the support portions 51 on the support unit 5 extend, and also moves in the Y-axis direction in conjunction with the movement of the arm 61. The hand 62 moves in the X-axis direction relative to the arm 61 while holding the feeder F, thereby moving the feeder F between the support unit 5 and the component supply unit 24 through the opening 40 of the support body 4. In this way, the hand 62 performs an insertion / removal operation of inserting / removing the feeder F into / from each support rail 251 in the component supply unit 24.

[0049] 1 and 2, the insertion / removal device 3 is also provided with a positioning plate 48 arranged inside the support body 4. The positioning plate 48 has a horizontal, flat plate shape that extends in the X-axis and Y-axis directions, and is arranged below the support unit 5 inside the support body 4. As shown in FIG. 4, the positioning plate 48 enters the entry path between a pair of first guide plates 281 in the guiding section 28 of the mounting machine 2 as a result of the movement of a transport body 7 (described later) that supports the support body 4 from below. When the positioning plate 48 enters the entry path between the pair of first guide plates 281, the pair of second guide plates 282 face the positioning plate 48 from above, and the pair of third guide plates 283 face the positioning plate 48 from the +X side.

[0050] As shown in FIGS. 2 and 4, in this embodiment, the insertion / extraction device 3 includes an attitude detection unit 8 and a distance detection unit 9 attached to a positioning plate .

[0051] The posture detection unit 8 is composed of four height detection sensors attached to the underside of the positioning plate 48. The four height detection sensors constituting the posture detection unit 8 have contacts 81 exposed on the upper surface of the positioning plate 48. When the positioning plate 48 is inserted into the insertion path between the pair of first guide plates 281, the posture detection unit 8 detects the height position of each of the four contacts 81 on the upper surface of the positioning plate 48 along the Z-axis direction relative to the pair of second guide plates 282 as a posture index value related to the posture of the support body 4. As shown in FIG. 5 , when the posture index values ​​of each of the four contacts 81 detected by the posture detection unit 8 are substantially the same within a predetermined posture tolerance range, the support body 4 is in a normal posture in which the positioning plate 48 and the support unit 5 arranged therein are horizontal. On the other hand, when at least one of the posture index values ​​of each of the four contacts 81 detected by the posture detection unit 8 is outside the predetermined posture tolerance range, the support body 4 is in an abnormal posture in which the positioning plate 48 and the support unit 5 arranged therein are tilted rather than horizontal.

[0052] The distance detection unit 9 is composed of two distance measurement sensors attached to the +X-side end of the underside of the positioning plate 48. The two distance measurement sensors constituting the distance detection unit 9 are arranged at an interval in the Y-axis direction on the +X-side end of the positioning plate 48. When the positioning plate 48 enters the entry path between the pair of first guide plates 281, the distance detection unit 9 detects the distance between the +X-side end of the positioning plate 48 and the pair of third guide plates 283 as a distance index value related to the distance between the support 4 and the mounter 2. As shown in FIG. 6 , if the distance index value detected by the distance detection unit 9 is within a predetermined distance tolerance range, the distance between the support 4 and the mounter 2 is normal. On the other hand, if the distance index value detected by the distance detection unit 9 is outside the predetermined distance tolerance range, the distance between the support 4 and the mounter 2 is abnormal. If the distance between the support 4 and the mounter 2 is abnormal, the support 4 is either too far away or too close to the mounter 2.

[0053] 1, an angle sensor 420 is fixed to the inner surface of the lower surface portion 42 of the support body 4. The angle sensor 420 detects the tilt angle of the support body 4 with respect to the horizontal plane.

[0054] Furthermore, as shown in FIG. 2 , the support body 4 has a plurality of spacers 43, a plurality of bearing plates 44, slits 45, a plurality of protrusions 46, and a protruding plate 47 provided on the lower surface portion 42. The plurality (three) of spacers 43 are rectangular parallelepiped blocks protruding downward from the outer surface of the lower surface portion 42. One of the three spacers 43 is disposed at the center in the Y-axis direction at the −X-side end of the lower surface portion 42. Two of the three spacers 43 are disposed at both ends in the Y-axis direction at the +X-side end of the lower surface portion 42. The plurality (three) of bearing plates 44 are flat plates having the same thickness (length in the Z-axis direction) and are disposed adjacent to the inner sides of the three spacers 43 on the outer surface of the lower surface portion 42. The three bearing plates 44 are located above the lower ends of the three spacers 43. The slit 45 is an elongated hole provided in the center of the lower surface portion 42 and extending in the Y-axis direction. The multiple (two) protrusions 46 are flat plates protruding downward from the lower surface portion 42 on both sides of the slit 45 in the Y-axis direction. The protruding plate 47 is a flat plate extending in the Y-axis direction that protrudes downward from the lower surface portion 42 at the center in the Y-axis direction at the end of the lower surface portion 42 on the +X side.

[0055] 1 and 3, the transport body 7 includes a housing 71 having an upper surface 711 that supports the support body 4 from below, and a lower surface 712 on which wheels 713 that rotate in response to the drive of a wheel drive unit 714 are attached. With the support body 4 supported on the upper surface 711 of the housing 71, the transport body 7 moves in response to the rotation of the wheels 713, thereby transporting the support body 4. The upper surface 711 of the housing 71 is a horizontal plane that extends in the X-axis and Y-axis directions.

[0056] The transport body 7 includes a plurality (three) of lifting units 72 corresponding to the plurality (three) of bearing plates 44 provided on the lower surface portion 42 of the support body 4. The plurality (three) of lifting units 72 support the support body 4 from below and raise and lower the support body 4. One of the three lifting units 72 is disposed at the center in the Y-axis direction at the -X-side end of the upper surface 711 of the housing 71 so as to face from below the bearing plate 44 disposed at the -X-side end of the lower surface portion 42 of the support body 4. Two of the three lifting units 72 are disposed at both ends in the Y-axis direction at the +X-side end of the upper surface 711 of the housing 71 so as to face from below the bearing plate 44 disposed at the +X-side end of the lower surface portion 42 of the support body 4.

[0057] Each of the three lifting units 72 has a spherical contact portion 721 that contacts the bearing plate 44 of the lower surface portion 42 of the support body 4 from below, a contact holder 722 that rotatably supports the contact portion 721, a lifting portion 723 that raises and lowers the contact portion 721 supported by the contact holder 722, and a lifting drive portion 724 that drives the lifting portion 723. The lifting portion 723 of each of the three lifting units 72 independently raises and lowers the contact portion 721 in response to driving of the lifting drive portion 724. The contact portion 721 is supported by the contact holder 722 so as to be rotatable in all directions, including the roll direction (direction around the X axis), pitch direction (direction around the Y axis), and yaw direction (direction around the Z axis). The contact holder 722 is disposed above the upper surface 711 of the housing 71, and the contact portion 721 protrudes above the contact holder 722. The lifting / lowering portion 723 is a rod-shaped rod extending in the Z-axis direction. The contact holder 722 supporting the contact portion 721 is fixed to the upper end of the lifting / lowering portion 723, and the lower end of the lifting / lowering portion 723 is connected to the lifting / lowering drive portion 724. Therefore, when each lifting / lowering portion 723 rises and falls in response to the driving of each lifting / lowering drive portion 724, each contact portion 721 rises and falls independently along with each contact holder 722. In the insertion / extraction device 3, each lifting / lowering portion 723 raises and lowers each contact portion 721, thereby making it possible to adjust the attitude of the support body 4 with which each contact portion 721 abuts via the bearing plate 44.

[0058] Furthermore, the conveying body 7 includes a fitting pin 73 provided on the upper surface 711 of the housing 71, a plurality of (two) biasing portions 74, and a plurality of (two) rods 75.

[0059] The fitting pin 73 protrudes upward from the center of the upper surface 711 of the housing 71. The fitting pin 73 has a shaft 731 extending upward from the upper surface 711 of the housing 71, and a flange 732 provided at the upper end of the shaft 731. When each abutment portion 721 abuts against the lower surface portion 42 of the support body 4 via the bearing plate 44, the shaft 731 fits into a slit 45 provided in the lower surface portion 42 of the support body 4, and the flange 732 is located within the slit 45. With the shaft 731 fitted into the slit 45, the fitting pin 73 fits into the slit 45 via the flange 732.

[0060] The multiple (two) urging portions 74 are arranged on the upper surface 711 of the housing 71, on both sides of the fitting pin 73 in the Y-axis direction. Of the two urging portions 74, the +Y-side urging portion 74 is located on the +Y side of the +Y-side protrusion 46 of two protrusions 46 provided on the lower surface portion 42 of the support body 4. Similarly, the -Y-side urging portion 74 of the two urging portions 74 is located on the -Y side of the -Y-side protrusion 46 of two protrusions 46 provided on the lower surface portion 42 of the support body 4. Each urging portion 74 has a pressing pad 741 facing toward the center in the Y-axis direction, and a damper 742 that urges the pressing pad 741 toward the center in the Y-axis direction, towards the protrusion 46, by means of the elastic force of a spring or the like.

[0061] The multiple (two) rods 75 protrude upward from the +X side end of the upper surface 711 of the housing 71. The multiple rods 75 face the protruding plate 47 provided on the lower surface portion 42 of the support body 4 from the -X side.

[0062] <Supporting state of the support body by the carrier> When the contact portions 721 of the lifting units 72 on the transport body 7 are positioned at the lowered height, the contact portions 721 are spaced downward from the bearing plates 44 provided on the lower surface portion 42 of the support body 4, and the spacers 43 provided on the lower surface portion 42 come into contact with the upper surface 711 of the housing 71. In this case, static friction acts between the spacers 43 and the upper surface 711, so that movement of the spacers 43 relative to the upper surface 711 is restricted. In this case, the transport body 7 supports the support body 4 in a restricted support state in which movement of the support body 4 in the X-axis direction, Y-axis direction, and yaw direction is restricted.

[0063] On the other hand, when the contact portions 721 of the lifting units 72 on the conveyance body 7 are positioned at a raised height higher than the lowered height, the contact portions 721 contact the bearing plates 44 provided on the lower surface portions 42 of the support bodies 4 from below and push up the bearing plates 44. In this case, the spacers 43 provided on the lower surface portions 42 of the support bodies 4 are spaced upward from the upper surface 711 of the housing 71, and the support bodies 4 are supported by the contact portions 721. As described above, the contact portions 721 are rotatably supported by the contact holders 722. Therefore, when the contact portions 721 are positioned at a raised height, the support bodies 4 supported by the contact portions 721 can move in the X-axis direction, the Y-axis direction, and the yaw direction relative to the conveyance body 7. In other words, the conveyance body 7 supports the support bodies 4 in a free support state that allows movement of the support bodies 4 in the X-axis direction, the Y-axis direction, and the yaw direction. However, even in the free support state, the movement range of the support bodies 4 is limited to a certain extent. The restriction on the range of movement of the support 4 in such a freely supported state will be described below.

[0064] As described above, a slit 45 is provided in the lower surface portion 42 of the support body 4, and a mating pin 73 provided on the upper surface 711 of the housing 71 of the conveying body 7 is fitted into the slit 45. In this case, movement of the support body 4 in the X-axis direction relative to the conveying body 7 is restricted by the mating pin 73 abutting against the opening edge of the slit 45. That is, in the freely supported state, movement of the support body 4 in the X-axis direction relative to the conveying body 7 is restricted, and the support body 4 moves in the X-axis direction along with the conveying body 7. The mating pin 73 is movable relative to the slit 45 within the opening range of the slit 45 in the Y-axis direction. Therefore, the support body 4 is movable relative to the conveying body 7 within the movable range of the mating pin 73 relative to the slit 45. In this case, when the support body 4 moves relative to the conveying body 7 until the mating pin 73 abuts against the opening edge of the slit 45, the movement of the support body 4 relative to the conveying body 7 is restricted. As described above, the upper surface 711 of the housing 71 of the conveying body 7 is provided with urging portions 74 on both sides of the fitting pin 73, and the lower surface 42 of the support body 4 is provided with protrusions 46 on both sides of the slit 45. In this case, when the distance between the fitting pin 73 and the opening edge of the slit 45 becomes less than a predetermined distance as the support body 4 moves relative to the conveying body 7, the pressing pad 741 of the urging portion 74 comes into contact with the protrusions 46. This applies a urging force to the support body 4 that acts in a direction that moves the fitting pin 73 away from the opening edge of the slit 45. This reduces the impact when the fitting pin 73 comes into contact with the opening edge of the slit 45.

[0065] Furthermore, the slit 45 is rotatable relative to the mating pin 73 around a rotation axis extending in the Z-axis direction. That is, the support 4 is rotatable relative to the conveying body 7 around a rotation axis extending in the Z-axis direction. As described above, the protruding plate 47 is provided on the lower surface portion 42 of the support 4, and the rod 75 is provided on the upper surface 711 of the housing 71 of the conveying body 7. In this case, the rotation range of the support 4 relative to the conveying body 7 is limited by the protruding plate 47 and the rod 75. That is, when the rotation angle of the support 4 relative to the conveying body 7 becomes large enough to reach a predetermined angle, the protruding plate 47 comes into contact with the rod 75, and the rotation of the support 4 relative to the conveying body 7 is limited.

[0066] <Arrangement of insertion / removal device relative to mounting machine according to movement of carrier> When the insertion / removal device 3 performs an insertion / removal operation of inserting / removing the feeder F into / from each support rail 251 on the lower frame 25 in the component supply unit 24 of the mounting machine 2, the conveying body 7 supporting the support body 4 in a freely supported state moves toward the component supply unit 24 of the mounting machine 2. As shown in Fig. 4, as the conveying body 7 moves, the positioning plate 48 provided on the support body 4 enters the entry path between the pair of first guide plates 281 in the guiding section 28 of the mounting machine 2 from the -X side.

[0067] When positioning plate 48 enters the entry path between the pair of first guide plates 281 from the -X side, the pair of second guide plates 282 face the positioning plate 48 from above, and the pair of third guide plates 283 face the positioning plate 48 from the +X side. In this case, in the attitude detection unit 8 and distance detection unit 9 attached to positioning plate 48, each contactor 81 of attitude detection unit 8 faces the pair of second guide plates 282 from below, and distance detection unit 9 faces the pair of third guide plates 283 from the -X side.

[0068] As the conveyance body 7 moves, the positioning plate 48 enters the entry path between the pair of first guide plates 281 from the -X side, and when the distance index value detected by the distance detection unit 9 falls within a predetermined distance tolerance range and the distance between the support body 4 and the mounting machine 2 becomes normal, the conveyance body 7 stops moving. As a result, the insertion / removal device 3 is positioned at the working position on the -X side relative to the component supply unit 24 of the mounting machine 2.

[0069] When the transport body 7 stops moving and the insertion / removal device 3 is placed at the work position, the lifting section 723 of each of the three lifting units 72 independently lifts each of the abutment sections 721 in response to the drive of the lifting drive section 724. As a result, the support body 4 supported by each abutment section 721 rises. When the positioning plate 48 rises in conjunction with this lifting of the support body 4, each of the contacts 81 of the attitude detection section 8 comes into contact with the pair of second guide plates 282 from below. While the support body 4 is rising, the pair of first guide plates 281 sandwiching the positioning plate 48 restricts movement of the positioning plate 48 in the Y-axis direction and the yaw direction. Furthermore, movement of the positioning plate 48 in the X-axis direction is restricted by the engagement of the engagement pin 73 with the slit 45. Therefore, movement of the support body 4 in the X-axis direction, Y-axis direction, and yaw direction is restricted.

[0070] The elevation height of each abutment portion 721 by each elevating portion 723 is adjusted so that the posture index values ​​of each contactor 81 detected by the posture detecting portion 8 are substantially the same within a predetermined posture tolerance range. As a result, the support body 4 assumes a normal posture in which the positioning plate 48 and the support unit 5 arranged therein are horizontal. When the support body 4 assumes the normal posture, the driving of the elevation driving portion 724 is stopped, and the rise of the support body 4 associated with the rise of each abutment portion 721 stops. The support body 4 in the normal posture is positioned on the -X side of the component supply unit 24, with the distance from the mounting machine 2 set to the normal distance. In this case, the upper surface of the support unit 5, on which the support portion 51 supporting the feeder F is provided inside the support body 4, and the upper surface of the lower frame 25, on which the support rails 251 supporting the feeder F in the component supply unit 24 are provided, are positioned on the same horizontal plane. As a result, the insertion / removal unit 6, which is arranged above the support unit 5 inside the support body 4, can perform insertion / removal work to insert and remove the feeder F into and from each support rail 251 inside the component supply unit 24 by moving the feeder F between the support unit 5 and the component supply unit 24.

[0071] <Operation control of insertion / removal device> The insertion / extraction device 3 includes a control unit 30 that controls the operation of the support unit 5 and the insertion / extraction unit 6 disposed inside the support body 4 and the operation of the lifting unit 72 of the carrier 7. The control unit 30 includes an insertion / extraction control unit 301 disposed inside the support body 4 and a transport control unit 302 disposed in the housing 71 of the carrier 7. The insertion / extraction control unit 301 and the transport control unit 302 that constitute the control unit 30 are configured, for example, by a processor capable of information processing. The insertion / extraction control unit 301 controls the movement operation of the support unit 5 by controlling the support drive unit 52, the movement operation of the arm 61 by controlling the arm drive unit 611, and the movement operation of the hand 62 by controlling the hand drive unit 621. The transport control unit 302 controls the lifting operation of each lifting unit 723 by controlling each lifting drive unit 724 in each lifting unit 72.

[0072] The operation control of the ejector / insertor 3 by the control unit 30 will be described with reference to the timing chart of FIG. 7 and the flowchart of FIG.

[0073] When the insertion / removal device 3 is disposed at a work position on the -X side relative to the component supply unit 24 of the mounting machine 2, the distance between the support 4 and the mounting machine 2 is normal, and the support 4 is in a normal posture, the insertion / removal unit 6 performs an insertion / removal operation to insert and remove multiple feeders F into and from the component supply unit 24. At this time, the insertion / removal control unit 301 controls the support drive unit 52, the arm drive unit 611, and the hand drive unit 621 in relation to the insertion / removal operation by the insertion / removal unit 6. The insertion / removal control unit 301 controls the support drive unit 52 and the arm drive unit 611 during an insertion / removal preparation period PP, which indicates a period for preparing the insertion / removal operation of the feeder F, and controls the hand drive unit 621 during an insertion / removal operation period WP, ​​which indicates a period for the insertion / removal operation of the feeder F. When insertion / removal operations are performed on multiple feeders F, the period from the end of the insertion / removal operation on one feeder F to the start of the insertion / removal operation on another feeder F is the insertion / removal preparation period PP. The insertion / removal preparation period PP includes not only the time for controlling the support drive unit 52 and the arm drive unit 611 before controlling the hand drive unit 621, but also the waiting time for waiting until a command for the insertion / removal work is input.

[0074] Specifically, when a command for an insertion / removal operation is input during the insertion / removal preparation period PP, the insertion / removal control unit 301 controls the support drive unit 52 and the arm drive unit 611 (step S1). In response to the drive of the support drive unit 52, the support unit 5 moves within a predetermined allowable movement range in the Y-axis direction, which is the arrangement direction of the multiple support parts 51, inside the support body 4. As a result, the support parts 51 of the support unit 5 supporting the feeder F to be inserted or removed faces the support rail 251 supporting the feeder F to be inserted or removed in the component supply unit 24. Then, in response to the drive of the arm drive unit 611, the arm 61 moves in the Y-axis direction along the guide rail 60 so that the hand 62 is positioned above the support parts 51 of the support unit 5 supporting the feeder F to be inserted or removed.

[0075] Next, the insertion / removal control unit 301 controls the hand driving unit 621 during the insertion / removal work period WP (step S2). In response to the driving of the hand driving unit 621, the hand 62 moves in the X-axis direction along the arm 61 while holding the feeder F to be inserted or removed. As a result, the feeder F held by the hand 62 moves between the support unit 5 and the component supply unit 24, and is inserted or removed from the component supply unit 24.

[0076] During the insertion / removal work period WP, ​​the insertion / removal control unit 301 monitors the distance index value detected by the distance detection unit 9, and the transport control unit 302 monitors the attitude index value of each contact 81 detected by the attitude detection unit 8.

[0077] Next, the insertion / removal control unit 301 determines whether the insertion / removal work of all the feeders F to be inserted or removed has been completed (step S3). If the insertion / removal work of all the feeders F has been completed (YES in step S3), the insertion / removal control unit 301 ends the insertion / removal work of the feeder F with respect to the component supply unit 24 by the insertion / removal unit 6. On the other hand, if the insertion / removal work of all the feeders F has not been completed (NO in step S3), during the insertion / removal preparation period PP before the start of the insertion / removal work of the next feeder F to be inserted or removed, the transport control unit 302 determines whether the attitude index value of each contact 81 detected by the attitude detection unit 8 indicates an abnormal attitude of the support 4 (step S4). Furthermore, during the insertion / removal preparation period PP, the insertion / removal control unit 301 determines whether the distance index value detected by the distance detection unit 9 indicates an abnormal distance between the support 4 and the mounting machine 2 (step S5).

[0078] If the attitude index values ​​of the contacts 81 detected by the attitude detection unit 8 are substantially the same within a predetermined attitude tolerance range, the transport control unit 302 determines that the support 4 is in a normal attitude rather than an abnormal attitude (NO in step S4), and proceeds to the processing of step S1. On the other hand, if at least one of the attitude index values ​​of the contacts 81 detected by the attitude detection unit 8 is outside the predetermined attitude tolerance range, the transport control unit 302 determines that the support 4 is in an abnormal attitude (YES in step S4), performs attitude adjustment control S41, and then proceeds to the processing of step S1.

[0079] If the distance index value detected by the distance detection unit 9 is within a predetermined distance tolerance range, the insertion / removal control unit 301 determines that the distance between the support 4 and the mounting machine 2 is normal and not abnormal (NO in step S5), and proceeds to the processing of step S1. On the other hand, if the distance index value detected by the distance detection unit 9 is outside the predetermined distance tolerance range, the insertion / removal control unit 301 determines that the distance between the support 4 and the mounting machine 2 is abnormal (YES in step S5), performs distance adjustment control S51, and then proceeds to the processing of step S1.

[0080] As described above, the control unit 30 including the insertion / removal control unit 301 and the transport control unit 302 is configured to be able to perform at least one of the posture adjustment control S41 and the distance adjustment control S51 during the insertion / removal preparation period PP.

[0081] In the posture adjustment control S41, the transport control unit 302 controls the lifting drive units 724 of each lifting unit 72 to raise and lower the contact portions 721 using the lifting units 723, thereby adjusting the posture of the support 4 that the contact portion 721 is in contact with to the normal posture. As a result, even if the posture of the support 4 has changed from the normal posture to an abnormal posture after the insertion / extraction operation of the insertion / extraction unit 6 for one feeder F is completed, the posture of the support 4 can be adjusted to the normal posture before the start of the next insertion / extraction operation for another feeder F. When the posture of the support 4 is adjusted to the normal posture, the positioning plate 48 and the support unit 5 arranged inside the support 4 are horizontal. Furthermore, the upper surface of the support unit 5, on which the support portion 51 for supporting the feeder F is provided inside the support 4, and the upper surface of the lower frame 25, on which the support rail 251 for supporting the feeder F in the component supply unit 24 is provided, are located on the same horizontal plane. In this way, by adjusting the posture of the support body 4 to the normal posture, the insertion / removal unit 6 can insert and remove the plurality of feeders F into and from the component supply unit 24 of the mounting machine 2 appropriately.

[0082] In the distance adjustment control S51, the insertion / removal control unit 301 controls the hand driving unit 621 that moves the hand 62 of the insertion / removal unit 6, and adjusts the movement distance of the feeder F caused by the movement of the hand 62 when the hand 62 performs an insertion / removal operation of the feeder F to a movement distance that matches the current distance between the support body 4 and the mounting machine 2. As a result, even if the support body 4 is displaced relative to the mounting machine 2 after the insertion / removal operation of the insertion / removal unit 6 for one feeder F is completed and the distance between the support body 4 and the mounting machine 2 becomes abnormally different from the normal distance, the movement distance of the feeder F caused by the movement of the hand 62 when inserting or removing the feeder F can be adjusted to an appropriate movement distance that matches the current distance between the support body 4 and the mounting machine 2 before the start of the next insertion / removal operation for another feeder F. This allows the insertion / removal unit 6 to appropriately insert or remove multiple feeders F into or from the component supply unit 24 of the mounting machine 2.

[0083] Specifically, it is assumed that the travel distance of the feeder F when it is inserted or removed has been adjusted to an appropriate travel distance that matches the current distance between the support body 4 and the mounting machine 2. In this case, when the feeder F supported by the support portion 51 on the support unit 5 inside the support body 4 is inserted into the support rail 251 on the lower frame 25 in the component supply unit 24, the upper positioning pin F1 and the lower positioning pin F2 of the feeder F inserted into the support rail 251 by moving the feeder F by the adjusted travel distance are accurately inserted into the upper pin insertion hole 261 and the lower pin insertion hole 262 of the rear frame 26. On the other hand, when the feeder F supported by the support rail 251 in the component supply unit 24 is recovered to the support portion 51 on the support unit 5, the feeder F is removed from the support rail 251 by moving the feeder F by the adjusted travel distance and recovered to an appropriate position on the support portion 51.

[0084] The control unit 30, which includes the insertion / removal control unit 301 and the transport control unit 302, may perform the posture adjustment control S41 and the distance adjustment control S51 during the insertion / removal preparation period PP. By the control unit 30 performing both the posture adjustment control S41 and the distance adjustment control S51, the insertion / removal unit 6 can more reliably insert and remove the multiple feeders F into and from the component supply unit 24 of the mounting machine 2 appropriately.

[0085] In this embodiment, the transport control unit 302 performs posture adjustment control S41 when at least one of the posture index values ​​of each contact 81 detected by the posture detection unit 8 is outside a predetermined posture tolerance range. In this case, the transport control unit 302 can efficiently perform posture adjustment control S41 based on the detection results of the posture index values ​​of each contact 81 detected by the posture detection unit 8. In the posture adjustment control S41, the transport control unit 302 controls each lifting / lowering drive unit 724 in each lifting / lowering unit 72 to raise and lower each abutting portion 721 using each lifting / lowering portion 723, thereby adjusting the posture of the support 4 with which each abutting portion 721 abuts to the normal posture.

[0086] Specifically, the transport control unit 302 calculates a correction value for the height position of each contact portion 721 of the three lifting units 72 based on the height positions of the four contacts 81 detected by the posture detection unit 8 as posture index values. More specifically, the transport control unit 302 calculates a deviation between a plane including each contact 81 and a reference horizontal plane based on the height positions of at least three of the four contacts 81, and calculates a correction value for the height position of each contact portion 721 to correct the deviation. Here, the reference horizontal plane is a horizontal plane including each contact 81 when the support 4 assumes a normal posture at a target height position. Then, the transport control unit 302 controls each lifting drive unit 724 based on the calculated correction value for the height position of each contact portion 721, and causes each lifting unit 723 to lift and lower each contact portion 721, thereby adjusting the posture of the support 4 in contact with each contact portion 721 to the normal posture.

[0087] When the attitude of the support body 4 is adjusted to the normal attitude, the attitude index values ​​of the contacts 81 detected by the attitude detection unit 8 become substantially the same within a predetermined attitude tolerance range, and the positioning plate 48 and the support unit 5 arranged inside the support body 4 are horizontal. Furthermore, the upper surface of the support unit 5 on which the support parts 51 that support the feeder F inside the support body 4 are provided and the upper surface of the lower frame 25 on which the support rails 251 that support the feeder F in the component supply unit 24 are provided are located on the same horizontal plane.

[0088] The posture detection unit 8 may detect the posture index value of each contact 81 each time the insertion / removal unit 6 performs an insertion / removal operation during the insertion / removal operation period WP. In this case, the transport control unit 302 monitors the detection results of the posture detection unit 8 detected each time the insertion / removal unit 6 performs an insertion / removal operation during the insertion / removal operation period WP, ​​and can perform posture adjustment control S41 during the insertion / removal preparation period PP based on the monitored detection results.

[0089] Furthermore, the posture detection unit 8 may continuously detect the posture index value of each contact 81 during the insertion / removal work period WP when the insertion / removal unit 6 is performing the insertion / removal work. In this case, the transport control unit 302 monitors the detection results of the posture detection unit 8 that are continuously detected during the insertion / removal work period WP when the insertion / removal unit 6 is performing the insertion / removal work, and can perform the posture adjustment control S41 during the insertion / removal preparation period PP based on the monitored detection results.

[0090] Furthermore, in this embodiment, the insertion / removal control unit 301 performs distance adjustment control S51 when the distance index value detected by the distance detection unit 9 is outside a predetermined distance tolerance range. In this case, the insertion / removal control unit 301 can efficiently perform distance adjustment control S51 based on the detection result of the distance index value detected by the distance detection unit 9. In the distance adjustment control S51, the insertion / removal control unit 301 controls the hand driving unit 621 to adjust the movement distance of the feeder F when the hand 62 performs the insertion / removal work of the feeder F to a movement distance that matches the current distance between the support body 4 and the mounting machine 2.

[0091] The distance detection unit 9 may detect the distance index value every time the insertion / removal unit 6 performs an insertion / removal operation during the insertion / removal operation period WP. In this case, the insertion / removal control unit 301 monitors the detection results of the distance detection unit 9 detected every time the insertion / removal unit 6 performs an insertion / removal operation during the insertion / removal operation period WP, ​​and can perform the distance adjustment control S51 during the insertion / removal preparation period PP based on the monitored detection results.

[0092] Furthermore, the distance detection unit 9 may continuously detect the distance index value during the insertion / removal work period WP in which the insertion / removal unit 6 is performing the insertion / removal work. In this case, the insertion / removal control unit 301 monitors the detection results of the distance detection unit 9 that are continuously detected during the insertion / removal work period WP in which the insertion / removal unit 6 is performing the insertion / removal work, and can perform the distance adjustment control S51 during the insertion / removal preparation period PP based on the monitored detection results.

[0093] [Modified embodiment] Although the embodiment of the present invention has been described above, the present invention is not limited to this and may take the following modified embodiments, for example.

[0094] In the above embodiment, the control unit 30 including the insertion / removal control unit 301 and the transport control unit 302 performs the posture adjustment control S41 and the distance adjustment control S51 during the insertion / removal preparation period PP. However, the present invention is not limited to this configuration. The control unit 30 may be configured to perform only the posture adjustment control S41 or only the distance adjustment control S51 during the insertion / removal preparation period PP.

[0095] When the control unit 30 performs only the attitude adjustment control S41, even if the attitude of the support 4 has changed from the normal attitude to an abnormal attitude after the insertion / removal operation of the insertion / removal unit 6 for one feeder F is completed, the attitude of the support 4 can be adjusted to the normal attitude before the start of the next insertion / removal operation for another feeder F. In this way, by adjusting the attitude of the support 4 to the normal attitude, the insertion / removal unit 6 can properly insert and remove multiple feeders F with respect to the component supply unit 24 of the mounting machine 2. Furthermore, when the control unit 30 performs only the distance adjustment control S51, even if the position of the support 4 with respect to the mounting machine 2 has shifted and the distance between the support 4 and the mounting machine 2 has changed from the normal distance to an abnormal distance after the insertion / removal operation of the insertion / removal unit 6 for one feeder F is completed, the control unit 30 can adjust the movement distance of the hand 62 when inserting or removing the feeder F to an appropriate movement distance that matches the current distance between the support 4 and the mounting machine 2 before the start of the next insertion / removal operation for another feeder F. Therefore, the insertion / removal unit 6 can appropriately insert and remove the plurality of feeders F into and from the component supply unit 24 of the mounting machine 2.

[0096] In the above embodiment, the posture detection unit 8 is described as being configured with four height detection sensors attached to the underside of the positioning plate 48, but is not limited to this configuration. The posture detection unit 8 may be configured with a weight detection sensor that detects the weight of the support 4. The weight of the support 4 is determined by the number of feeders F supported by the support units 5 arranged inside the support 4. The weight of the support 4 affects the deformation of the wheels 713 of the conveyance body 7 that supports the support 4. For this reason, it is expected that the weight of the support 4 affects the posture of the support 4 supported by the conveyance body 7. Therefore, the posture detection unit 8 detects the weight of the support 4 as a posture index value related to the posture of the support 4.

[0097] When the attitude index value indicated by the weight of the support 4 detected by the attitude detection unit 8 is within a predetermined attitude tolerance range, the support 4 is in a normal attitude in which the positioning plate 48 and support unit 5 arranged therein are horizontal. On the other hand, when the attitude index value detected by the attitude detection unit 8 is outside the predetermined attitude tolerance range, the support 4 is in an abnormal attitude in which the positioning plate 48 and support unit 5 arranged therein are tilted rather than horizontal. When the attitude index value detected by the attitude detection unit 8 is outside the predetermined attitude tolerance range in this way, the transport control unit 302 of the control unit 30 performs attitude adjustment control S41.

[0098] In the above embodiment, the distance detection unit 9 is described as being configured by a distance measurement sensor attached to the underside of the positioning plate 48, but the present invention is not limited to this configuration. The distance detection unit 9 may also be configured by a current detection sensor that detects the drive current of the hand driver 621. The drive current of the hand driver 621 varies depending on the insertion state of the upper positioning pins F1 and the lower positioning pins F2 of the feeder F into the upper pin insertion holes 261 and the lower pin insertion holes 262 of the rear frame 26 when the feeder F is inserted into or removed from each support rail 251 in the component supply unit 24 as the hand 62 moves. The drive current of the hand driver 621 differs depending on whether the insertion state of the upper positioning pins F1 and the lower positioning pins F2 into the upper pin insertion holes 261 and the lower pin insertion holes 262 is normal or abnormal. Furthermore, the insertion state of the upper positioning pin F1 and the lower positioning pin F2 into the upper pin insertion hole 261 and the lower pin insertion hole 262 is affected by the distance between the support body 4 and the mounting machine 2. When the distance between the support body 4 and the mounting machine 2 is normal, the insertion state is normal, and when the distance between the support body 4 and the mounting machine 2 is abnormal, the insertion state is abnormal. In other words, it is assumed that the drive current of the hand driving unit 621 is affected by the distance between the support body 4 and the mounting machine 2. Therefore, the distance detection unit 9 detects the drive current of the hand driving unit 621 as a distance index value related to the distance between the support body 4 and the mounting machine 2.

[0099] When the distance index value indicated by the drive current of the hand drive unit 621 detected by the distance detection unit 9 is within a predetermined distance tolerance range, the distance between the support body 4 and the mounting machine 2 is normal. On the other hand, when the distance index value detected by the distance detection unit 9 is outside the predetermined distance tolerance range, the distance between the support body 4 and the mounting machine 2 is abnormal. When the distance index value detected by the distance detection unit 9 is outside the predetermined distance tolerance range in this way, the insertion / removal control unit 301 of the control unit 30 performs distance adjustment control S51. [Explanation of symbols]

[0100] 1. Component mounting system 2 Mounting machine 24 Parts supply unit 3 Insertion / extraction device 30 Control Unit 4 Support 5 Support Unit 6 Insertion / Extraction Unit 7. Carrier 72 Lifting unit 721 Contact part 722 Contact holder 723 Lifting section 8 Attitude detection unit 9 Distance detection unit F Feeder (parts supply material)

Claims

1. An insertion / removal device that inserts and removes a component supply member into and from a mounting machine that mounts components on a board, a support body having a support unit for supporting a plurality of the component supply members; a carrier that carries the support; an insertion / removal unit that performs an insertion / removal operation of inserting and removing the component supply member into and from the mounting machine by moving the component supply member between the support unit and the mounting machine while the support body transported by the transport body is disposed to the side of the mounting machine; a control unit for controlling the carrier and the insertion / removal unit, the transport body includes a plurality of contact portions that contact the support body from below, and a plurality of lifting portions that independently lift and lower the plurality of contact portions, The control unit In the insertion / removal operation of the insertion / removal unit with respect to the mounting machine, at least one of attitude adjustment control and distance adjustment control can be performed during an insertion / removal preparation period from the end of the insertion / removal operation for one of the component supply members until the start of the insertion / removal operation for another of the component supply members, In the attitude adjustment control, the attitude of the support body with which the contact portions are in contact is adjusted by raising and lowering the contact portions by the lifting and lowering units, respectively; In the distance adjustment control, a moving distance by which the other component supply member is moved when the insertion / removal unit performs the insertion / removal operation of the other component supply member is adjusted.

2. The insertion / extraction device according to claim 1 , wherein the control unit controls each of the attitude adjustment control and the distance adjustment control during the insertion / extraction preparation period.

3. further comprising a posture detection unit that detects a posture index value related to the posture of the support body; 2. The insertion / removal device according to claim 1, wherein the control unit performs the attitude adjustment control when the attitude index value is out of a predetermined attitude tolerance range.

4. The insertion / removal device according to claim 3 , wherein the attitude detection unit detects the attitude index value each time the insertion / removal unit performs the insertion / removal operation.

5. 4. The insertion / removal device according to claim 3, wherein the attitude detection section continuously detects the attitude index value while the insertion / removal unit is performing the insertion / removal operation.

6. a distance detection unit that detects a distance index value relating to the distance between the support body and the mounting machine, 2. The insertion / removal device according to claim 1, wherein the control unit performs the distance adjustment control when the distance index value is outside a predetermined distance tolerance range.

7. The insertion / removal device according to claim 6 , wherein the distance detection unit detects the distance index value each time the insertion / removal unit performs the insertion / removal operation.

8. The insertion / removal device according to claim 6 , wherein the distance detection section continuously detects the distance index value while the insertion / removal unit is performing the insertion / removal operation.

9. a posture detection unit that detects a posture index value related to the posture of the support; a distance detection unit that detects a distance index value relating to the distance between the support body and the mounting machine, 2. The insertion / removal device according to claim 1, wherein the control unit performs the attitude adjustment control when the attitude index value is out of a predetermined attitude tolerance range, and performs the distance adjustment control when the distance index value is out of a predetermined distance tolerance range.

10. a mounting machine that mounts components on a board; A component mounting system comprising: an insertion / removal device according to any one of claims 1 to 9, which inserts and removes a component supply member into and from the mounting machine.

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