Component alignment device, component mounting system, component alignment method, and component mounting method

Abstract

To improve work efficiency in a step of mounting components to a workpiece by removing components remaining on a pallet.SOLUTION: A component alignment device 2 comprises: a pallet 7 on which multiple components P supplied in irregular postures can be placed, and which is provided with storage parts 8 that can store the components P at predetermined intervals; a drive mechanism 9 that can oscillate the pallet 7 in a predetermined direction; and a wiper 11 which moves in a predetermined direction along a placement surface of the components P on the pallet 7 after the drive mechanism 9 stops and can remove components P not stored in the storage parts 8 from the placement surface.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a component alignment device, a component mounting system, a component alignment method, and a component mounting method. [Background technology]

[0002] Conventionally, there has been provided a component alignment device that includes a vibration means that applies vibration to an alignment pallet by oscillating an eccentric shaft attached to the rotating shaft of a motor fixed to a base, thereby aligning components (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4507321 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the part alignment device disclosed in Patent Document 1, when the motor is driven, the parts vibrate and move back and forth on the alignment pallet, and during this time the parts fit into molds formed on the alignment pallet and are aligned.

[0005] However, according to the part alignment device disclosed in Patent Document 1, if the number of parts placed on the alignment pallet is greater than the number of molds, parts that are not accommodated in the molds and are not aligned will remain on the alignment pallet.

[0006] When misaligned components are left on the pallet, there is a problem that in the mounting process of mounting the aligned components onto the workpiece, the remaining components may come into contact with the mounting head that picks up the components from the aligned pallet, which may cause problems in picking up the components.

[0007] Furthermore, when components aligned on a pallet are taken out and mounted on a workpiece, the pallet must be turned over, which creates the problem of a complex pallet structure.

[0008] Therefore, an object of the present invention is to provide a component alignment device, a component mounting system, a component alignment method, and a component mounting method that can improve the work efficiency of the mounting process by removing components remaining on a pallet. [Means for solving the problem]

[0009] In order to achieve the above object, the component alignment device of the present invention comprises a pallet capable of mounting a plurality of components supplied in irregular positions, and having recesses capable of accommodating the components arranged at predetermined intervals, a drive means capable of swinging the pallet in a predetermined direction, and a removal means capable of moving in a predetermined direction along the component mounting surface on the pallet after the drive means has stopped, and removing from the mounting surface any of the components that are not accommodated in the recesses. [Effects of the Invention]

[0010] According to the present invention, components remaining on the pallet can be removed, and the productivity of the mounting process can be improved.

[0011] Furthermore, in contrast to the method of tilting the mounting surface of the pallet in order to remove parts remaining on the pallet, the present invention makes it possible to remove the remaining parts without complicating the structure of the pallet. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing an example of the overall configuration of a component mounting system according to a first embodiment of the present invention. [Figure 2] 1 is a diagram showing an example of the configuration of a component aligning device according to a first embodiment of the present invention. [Figure 3] 1 is a diagram showing an example of the configuration of a component aligning device according to a first embodiment of the present invention. [Figure 4] 1 is a diagram showing an example of the configuration of a component aligning device according to a first embodiment of the present invention. [Figure 5] 1 is a diagram showing an example of the configuration of a component aligning device according to a first embodiment of the present invention. [Figure 6] 1 is a diagram showing an example of the configuration of a component aligning device according to a first embodiment of the present invention. [Figure 7] 1 is a diagram showing an example of the configuration of a component aligning device according to a first embodiment of the present invention. [Figure 8] 1 is a diagram illustrating an example of the configuration of a mounting device according to a first embodiment of the present invention. [Figure 9] 1 is a diagram illustrating an example of the configuration of a mounting device according to a first embodiment of the present invention. [Figure 10] 1 is a diagram showing an example of the configuration of a holding jig in a first embodiment of the present invention. FIG. [Figure 11] 3 is a flowchart showing an example of a main processing procedure executed in the component mounting system according to the first embodiment of the present invention. [Figure 12] 5 is a flowchart showing an example of a processing procedure of a shaking step executed in the component mounting system according to the first embodiment of the present invention. [Figure 13] 10 is a flowchart showing an example of a processing procedure of a removal step executed in the component mounting system according to the first embodiment of the present invention. [Figure 14] 5 is a flowchart showing an example of a processing procedure of a pick-up process executed in the component mounting system according to the first embodiment of the present invention. [Figure 15] 5 is a flowchart showing an example of a processing procedure of a mounting process executed in the component mounting system according to the first embodiment of the present invention. [Figure 16] 5 is a flowchart showing an example of a processing procedure of an initialization step executed in the component mounting system according to the first embodiment of the present invention. [Figure 17] FIG. 10 is a diagram showing an example of the overall configuration of a component mounting system according to a second embodiment of the present invention. [Figure 18]FIG. 10 is a sequence diagram showing an example of a processing procedure executed in a component mounting system according to a second embodiment of the present invention. [Figure 19] FIG. 10 is a diagram showing an example of the overall configuration of a component mounting system according to a third embodiment of the present invention. [Figure 20] FIG. 10 is a diagram showing an example of the configuration of a component mounting system according to a third embodiment of the present invention. [Figure 21] FIG. 10 is a diagram showing an example of the configuration of a component aligning device according to a third embodiment of the present invention. [Figure 22] FIG. 11 is a sequence diagram showing an example of a processing procedure executed in a component mounting system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Findings Included in the Present Invention) The component alignment device, component mounting system, component alignment method, and component mounting method according to the present invention include the following inventions.

[0014] The component alignment device of the present invention may further include a storage means capable of storing the components removed from the placement surface by the removal means, and the removal means may be configured to move on the placement surface while pressing the placement surface vertically, and to be able to move up to above the storage means.

[0015] With this configuration, parts that are not accommodated in the recesses on the pallet and remain there can be suitably stored in the storage means.

[0016] In the component alignment device according to the present invention, the removal means may be configured to be movable with its bottom surface maintained at a predetermined height from the flat portion of the placement surface, and the height may be configured to be smaller than the size of the component.

[0017] This configuration allows the removal means to move on the pallet without friction.

[0018] The component mounting system of the present invention is a component mounting system comprising a component alignment device having any of the above-described features, and a mounting device that picks up the components from the component alignment device and mounts them on a workpiece, wherein the mounting device comprises a mounting head that picks up the components accommodated in the recesses and mounts the picked-up components on the workpiece, a holding jig that holds the workpiece, and a moving means that, when the components are picked up by the mounting head, moves the mounting head to a position corresponding to the workpiece held by the holding jig, wherein the mounting head is configured to be able to pick up the components using a plurality of pickup claws that are arranged corresponding to the recesses, and the holding jig holds the workpiece in a manner that corresponds to the arrangement of the pickup claws.

[0019] With this configuration, it is possible to suitably mount the aligned components on the workpiece held by the holding jig.

[0020] The component alignment method of the present invention may be a component alignment method for arranging a plurality of components supplied in irregular positions on a pallet having recesses capable of accommodating the components, the component alignment method including: a rocking step for rocking the pallet in a predetermined direction; and a removal step for, after performing the rocking step, moving a wiper on the pallet along the component placement surface to remove from the placement surface any of the components that are not accommodated in the recesses.

[0021] With this configuration, the components remaining on the pallet can be removed, and the productivity of the mounting process can be improved.

[0022] The part alignment method of the present invention may be characterized in that a storage means capable of storing the parts removed from the placement surface is arranged adjacent to the pallet, and the removal step involves moving along the placement surface while pressing the placement surface vertically, and moving up to above the storage means.

[0023] With this configuration, it is possible to efficiently remove parts remaining on the pallet.

[0024] The component mounting method of the present invention includes a rocking step of rocking a pallet having recesses capable of accommodating a plurality of components supplied in irregular positions in a predetermined direction; a removal step of, after performing the rocking step, moving a wiper on the pallet along the component placement surface to remove from the placement surface any of the components that are not accommodated in the recesses; a pickup step of, after the removal step has been performed, picking up the components accommodated in the recesses using a mounting head having a plurality of pickup claws arranged to correspond to the recesses; and a mounting step of mounting the components picked up by the mounting head onto a workpiece held by a holding jig in an arrangement corresponding to the arrangement of the mounting head.

[0025] With this configuration, it is possible to suitably mount the aligned components on the workpiece held by the holding jig.

[0026] (First embodiment) A first embodiment of the present invention will be described in detail below with reference to the drawings. Note that the same components or members are denoted by the same reference numerals, and redundant explanations thereof will be omitted.

[0027] 1 is a diagram showing an example of the configuration of a component mounting system 1 shown in the first embodiment. In the following description, the horizontal direction, which is the left-right direction of the component alignment device 2, is referred to as the X-axis direction, and the horizontal direction, which is perpendicular to the X-axis direction, and which is the front-rear direction of the component alignment device 2, is referred to as the Y-axis. Furthermore, the vertical direction, which is perpendicular to the X-axis and Y-axis directions, is referred to as the Z-axis direction.

[0028] The component mounting system 1 shown in the first embodiment includes a component alignment device 2 that aligns components P, and a mounting device 3 that picks up components P from the component alignment device 2 and mounts them on a workpiece W.

[0029] The component alignment device 2 includes a pallet 7 having a storage section 8 capable of storing components P, a drive mechanism 9 capable of swinging the pallet 7 in a predetermined direction, and a wiper 11 for removing components P that are left on the pallet 7 and are not stored in the storage section 8.

[0030] The mounting device 3 includes a mounting head 20 that picks up components P stored on a pallet 7 and mounts them on a workpiece W, a holding jig 22 that holds the workpiece W, and a first transport unit 24 that moves the mounting head 20 to a position corresponding to the workpiece W held by the holding jig 22.

[0031] In the component mounting system 1 shown in the first embodiment, a plurality of components P are supplied in irregular positions from a supply feeder 6 onto the mounting surface of a pallet 7. On the mounting surface of the pallet 7, storage sections 8 that are recessed downward in accordance with the shapes of the components P are arranged at predetermined intervals. As an example of the storage sections 8, recesses may be formed.

[0032] When a plurality of components P are supplied onto the mounting surface of the pallet 7, the component alignment device 2 drives the drive mechanism 9 to swing the pallet 7 in a predetermined direction. As a result, the components P slide on the mounting surface of the pallet 7 and are stored one by one in the storage units 8 arranged on the mounting surface.

[0033] When the drive mechanism 9 rocks the pallet 7 for a predetermined time, one or more components P are accommodated in the accommodation unit 8, and the components P that were not accommodated are left on the placement surface. When the drive mechanism 9 stops, the wiper 11 moves along the placement surface on the pallet 7 to remove the remaining components P from the placement surface.

[0034] After the remaining components P are removed by the wiper 11, the mounting device 3 moves the mounting head 20 onto the pallet 7 and picks up the components P stored in the storage section 8 with the pickup claws .

[0035] In the example shown in FIG. 1, the mounting head 20 approaches the pallet 7 from the front and picks up the component P stored in the storage section 8.

[0036] The holding jig 22 is provided with a workpiece holding section 30 that holds the workpiece W. The workpiece holding sections 30 are arranged to correspond to the storage sections 8 of the pallet 7. The mounting device 3 uses the first transport section 24 to bring the mounting head 20 close to the workpiece W held by the workpiece holding section 30, and mounts the component P.

[0037] In the component mounting system 1 shown in Fig. 1, the component alignment device 2 removes from the mounting surface any components P that are left without being accommodated in the accommodation section 8 of the pallet 7. This allows the mounting head 20 to pick up the components P accommodated in the accommodation section 8 without being obstructed by the remaining components P.

[0038] A control device (not shown) that controls the operation of the component mounting system 1 in the first embodiment may be configured by known devices such as a personal computer (PC) or a programmable logic controller (PLC).

[0039] (Parts alignment device) Fig. 2 is a diagram showing an example of the configuration of the component alignment device 2 in the first embodiment. Fig. 2 shows an example of the planar configuration of the component alignment device 2. The storage units 8 are arranged at predetermined intervals in each of the X-axis direction and the Y-axis direction on the loading surface side of the pallet 7.

[0040] The storage section 8 is recessed downward in the Z-axis direction. In the example shown in Fig. 2, the storage section 8 has its long sides aligned in the Y-axis direction in a plan view and its short sides aligned in the X-axis direction. The storage section 8 may have a convex groove formed on the short side.

[0041] As an example, the storage section 8 may be provided with a convex groove that allows the pickup claw 28 to retract when the pickup claw 28 enters the storage section 8 and expands in the Y-axis direction, i.e., the longitudinal direction, to pick up the component P.

[0042] Alternatively, the receiving portion 8 may have a convex groove on the long side. The receiving portion 8 may have a convex groove into which the pickup claws 28 can be retracted when the pickup claws 28 are expanded.

[0043] Furthermore, unlike the above, the storage section 8 may be configured to have a circular shape in a planar view. In this case, the storage section 8 is configured to have a cylindrical recess downward in the Z-axis direction. The storage section 8 may have a convex groove in a desired direction that allows the pickup claws 28 to retract when expanding. The convex grooves may be arranged at positions facing each other across the center of the storage section 8 in a planar view.

[0044] 2, storage unit 13 is disposed at the rear end of pallet 7, continuing from pallet 7. Storage unit 13 has a wall rising from the end of the bottom surface. The specific configuration of storage unit 13 will be described later.

[0045] The wiper 11 is a member capable of removing, from the mounting surface, components P that are left behind without being stored in the storage section 8. The wiper 11 is disposed so as to be movable on the mounting surface of the pallet 7. After the drive mechanism 9 has stopped, the wiper 11 moves in a predetermined direction on the mounting surface of the pallet 7. In the example shown in FIG. 2, the wiper 11 is disposed behind the pallet 7 and is configured so as to be movable forward on the mounting surface of the pallet 7.

[0046] The wiper 11 is configured to be movable on the pallet 7 by a known driving means such as a motor. The wiper 11 may be disposed in engagement with the pallet 7, or may be separated from the pallet 7 and disposed in close proximity to the front or rear of the pallet 7.

[0047] When the wiper 11 moves on the placement surface and reaches the storage section 13, it starts moving in the opposite direction and stops when it returns to its initial position.

[0048] The width of wiper 11 in the X-axis direction is smaller than the width of pallet 7. Pallet 7 has walls on the left and right sides that sandwich the mounting surface. This is to prevent components P supplied from supply feeder 6 from falling off pallet 7. Because wiper 11 moves on the mounting surface sandwiched between the left and right walls of pallet 7, it is configured to be smaller than the width of pallet 7 in the X-axis direction, including the walls.

[0049] Fig. 3 is a diagram showing an example of the configuration of the component alignment device 2 that constitutes the component mounting system 1 in the first embodiment. In the example shown in Fig. 3, the drive mechanism 9 is disposed below the pallet 7 and is configured to be able to swing the pallet 7 in a predetermined direction. The drive mechanism 9 is configured by a known drive means such as a motor. The drive mechanism 9 may be disposed at a desired position, such as to the side or above the pallet 7.

[0050] The drive mechanism 9 may be configured with a plurality of motors. As an example, the drive mechanism 9 may be configured with a motor that swings the pallet in the X-axis direction and a motor that swings the pallet in the Y-axis direction.

[0051] In the first embodiment, the drive mechanism 9 rocks the pallet 7 in the Y-axis, X-axis, and Z-axis directions, causing the parts P supplied in an irregular position onto the mounting surface of the pallet 7 to slide irregularly on the mounting surface in the front-to-back, left-to-right, or up-and-down directions.

[0052] The drive mechanism 9 may rock the pallet 7 in either the Y-axis direction or the X-axis direction. As an example, the drive mechanism 9 may rock the pallet 7 in the Y-axis direction for a predetermined time, and then rock the pallet 7 in the X-axis direction for a predetermined time. Alternatively, the drive mechanism 9 may rock the pallet 7 in both the X-axis and Y-axis directions simultaneously.

[0053] Some of the multiple components P are received in the receiving section 8 while sliding irregularly in the front-to-back, left-to-right, and up-to-down directions on the mounting surface. This allows the components P to be aligned on the mounting surface of the pallet 7. Furthermore, by swinging the pallet 7 to receive and align the components P in the receiving section 8, it is possible to prevent component jams from occurring when the components P are supplied from the supply feeder 6.

[0054] Alternatively, the drive mechanism 9 may swing the pallet 7 only in either the Y-axis direction or the X-axis direction, which simplifies the structure of the drive mechanism 9. Alternatively, the drive mechanism 9 may move the pallet 7 up and down in the Z-axis direction.

[0055] The drive mechanism 9 rocks the pallet 7 for a predetermined time and then stops. When the drive mechanism 9 stops, the wiper 11 moves on the mounting surface of the pallet 7 toward the storage section 13. As will be described later, the bottom surface of the wiper 11 may or may not contact the mounting surface of the pallet 7.

[0056] When the wiper 11 moves over the mounting surface of the pallet 7 and reaches above the storage section 13, it starts moving in the opposite direction and stops when it returns to its initial position. In the component mounting system 1 exemplified in the first embodiment, the wiper 11 waits at the initial position, i.e., at the end opposite the storage section 13 across the pallet 7, at least until the mounting head 20 picks up the component P stored in the storage section 8 and moves toward the holding jig 22.

[0057] In the first embodiment, the mounting head 20 approaches the pallet 7 from the front and picks up the components P stored in the storage section 8. While the mounting head 20 is performing the pickup, the wiper 11 waits in the initial position, thereby preventing the wiper 11 from interfering with the pickup operation of the mounting head 20.

[0058] Alternatively, the wiper 11 may wait above the storage section 13 until the mounting head 20 mounts the component P on the workpiece W held by the holding jig 22 .

[0059] When the pickup by the mounting head 20 is completed, a plurality of components P are supplied from the supply feeder 6. The number of components P supplied from the supply feeder 6 may be approximately the same as the number of storage sections 8.

[0060] When a plurality of parts P are supplied from the supply feeder 6, the drive mechanism 9 swings the pallet 7. When the pallet 7 swings, the storage section 13 swings together with it. The parts P remaining in the storage section 13 slide irregularly on the placement surface together with newly supplied parts P. Some of these parts P are stored in the storage section 8.

[0061] 4A and 4B are diagrams illustrating an example of the configuration of the component alignment device 2 in the first embodiment. FIG. 4A is an example of an enlarged plan view of the storage section 8. The storage section 8 has a shape corresponding to the shape of the component P. In the first embodiment, the storage section 8 further includes a convex groove on the short side in the Y-axis direction.

[0062] FIG. 4(b) is an example of a side cross-sectional view of the storage section 8. The storage section 8 is recessed so that the component P can be placed thereon. The bottom surface of the storage section 8 has a flat portion in the center where the component P can be placed. The depth of the flat portion may be about 1.5 times the thickness of the component P. With this configuration, when the wiper 11 moves over the top surface of the pallet 7 to remove the remaining components P, the components P stored in the storage section 8 are effectively prevented from being scraped out by the wiper 11, and can be retained in the storage section 8.

[0063] The storage section 8 has a deep portion near the peripheral wall. The deep portion is formed to extend downward along the Z axis compared to the flat portion on which the component P can be placed. The deep portion accommodates the pickup claw 28 when the pickup claw 28 enters the storage section 8. The pickup claw 28 can enter below the component P. The pickup claw 28 expands outward from a state in which its tip is positioned below the component P, and picks up the component P inside.

[0064] Fig. 5 is a diagram showing an example of the configuration of the component alignment device 2 in the first embodiment. Fig. 5 is a diagram showing an example of a side cross section of the component alignment device 2. In the example shown in Fig. 5, the storage section 8 is formed to be recessed downward from the mounting surface of the pallet 7.

[0065] The storage section 8 is configured to have a size that allows it to store one component P. The depth of the storage section 8 in the Z-axis direction is set so that when one component P is stored in the storage section 8, the top surface of the stored component P is at the same height as or lower than the flat portion of the placement surface. As described above, the depth of the storage section 8 may be configured to be about 1.5 times the thickness of the component P. This configuration makes it possible to prevent the wiper 11 from removing the component P stored in the storage section 8 when the wiper 11 moves over the placement surface of the pallet 7.

[0066] 5, the bottom surface of storage section 13 is formed so as to be continuous with or lower than the mounting surface of pallet 7. This configuration allows wiper 11 to move smoothly from pallet 7 to storage section 13. Note that, as will be described later, in the first embodiment, storage section 13 may have a different configuration.

[0067] 6A and 6B are diagrams showing an example of the configuration of the component aligning device 2 in the first embodiment. 6A and 6B show different examples of the movement of the wiper 11.

[0068] In the example shown in Figure 6(a), the wiper 11 moves from the front to the rear of the pallet 7 while contacting the flat portion of the pallet 7. When the wiper 11 is on the mounting surface of the pallet 7, the bottom surface of the wiper 11 moves while contacting the flat portion of the pallet 7. With this configuration, parts P that are left on the mounting surface without being stored in the storage section 8 can be suitably removed from the mounting surface.

[0069] In FIG. 6(b), unlike the example shown in FIG. 6(a), the wiper 11 moves from the front to the rear of the pallet 7 without coming into contact with the pallet 7. In FIG. 6(b), the wiper 11 is configured to be movable while maintaining its bottom surface at a predetermined height above the flat portion of the mounting surface. As an example, the wiper 11 may be configured to be movable while maintaining a height above the flat portion that is smaller than the thickness of the component P. With this configuration, it is possible to prevent the bottom surface of the wiper 11 from being worn down due to friction with the pallet 7. Furthermore, because the wiper 11 moves at a height lower than the thickness of the component P remaining on the mounting surface of the pallet 7, the remaining component P can be suitably removed from the mounting surface.

[0070] FIG. 7 is a diagram showing an example of the configuration of the component alignment device 2 in the first embodiment. FIG. 7 shows an enlarged cross section of the vicinity of the storage section 13. In the example shown in FIG. 7(a), the storage section 13 is formed to be continuous and substantially horizontal with the mounting surface of the pallet 7. With this configuration, components P once removed to the storage section 13 by the wiper 11 can slide on the mounting surface of the pallet 7 together with newly supplied components P as the pallet 7 swings.

[0071] 7(a), the bottom surface of the storage unit 13 is inclined downward toward the rear. Therefore, the bottom surface of the storage unit 13 is gradually lower toward the rear than the bottom surface of the pallet 7.

[0072] With this configuration, it is possible to prevent the parts P removed from the mounting surface of the pallet 7 by the wiper 11 from moving again toward the mounting surface of the pallet 7 due to some external force.

[0073] (mounting equipment) Next, the configuration of the mounting device 3 that constitutes the component mounting system 1 in the first embodiment will be described. Fig. 8 is a diagram showing an example of the configuration of the mounting device 3 in the first embodiment. The mounting device 3 is a device that picks up components P from the component alignment device 2 and mounts them on the workpiece W.

[0074] The mounting device 3 includes a mounting head 20. The mounting head 20 is a member that picks up the components P stored in the storage unit 8. The mounting device 3 includes a first transport unit 24 that can move the mounting head 20.

[0075] The mounting head 20 approaches the storage unit 8 by the first transport unit 24 and picks up the component P stored in the storage unit 8. The mounting head 20 further includes a pickup claw 28 that can pick up the component P.

[0076] In the example shown in Fig. 8, the pickup claw 28 is composed of two rods that can be opened and closed. The distance between the two rods that make up the pickup claw 28 can be changed. The pickup claw 28 may be configured so that the distance between the two rods can be changed by magnetic force, or may be configured using a solenoid. Alternatively, the pickup claw 28 may be configured so that the distance between the two rods can be changed by water pressure, oil pressure, or air pressure.

[0077] When the component P is picked up from the storage section 8 by the pickup claw 28, the mounting head 20 mounts the picked up component P on the workpiece W held by the holding jig 22. The first transport unit 24 is a component that, when the component P is picked up by the mounting head 20, moves the mounting head 20 to a position corresponding to the workpiece W held by the holding jig 22. The first transport unit 24 is a moving means for the mounting head 20, and is composed of a known mechanism such as a manipulator.

[0078] The first transport unit 24 moves the mounting head 20 to a position that is registered in advance by teaching. As an example, the positions of the storage units 8 formed on the pallet 7 are registered in advance, and the first transport unit 24 moves the mounting head 20 to the positions of the corresponding storage units 8.

[0079] 9A and 9B are diagrams illustrating an example of the configuration of the mounting device 3 in the first embodiment. Fig. 9A is a front view of the mounting head 20 and the first transport unit 24 as viewed from the Y-axis direction. The mounting head 20 has a plurality of pickup claws 28 arranged in correspondence with the storage units 8. The mounting head 20 is configured so that the plurality of pickup claws 28 can pick up components P stored in the storage units 8.

[0080] 9(a), the pickup claws 28 are disposed on the underside of the mounting head 20. The pickup claws 28 may be formed to protrude downward from the mounting head 20. The pickup claws 28 are disposed at predetermined intervals corresponding to the storage sections 8 formed in the pallet 7.

[0081] In the illustrated example, the pickup claws 28 are arranged in a row in the X-axis direction, but the present invention is not limited to this, and the mounting head 20 may be provided with multiple rows of pickup claws 28 in the X-axis direction. Alternatively, the mounting head 20 may be provided with multiple rows of pickup claws 28 in the Y-axis direction.

[0082] 9(b) is a side view of the mounting head 20 as viewed from the X-axis direction. In the example shown in FIG. 9(b), the pickup claws 28 are configured as rods with substantially the same cross-sectional area in the XY plane. The pickup claws 28 may be configured as two rods, and the distance between the rods may be expandable and contractible in the Y-axis direction.

[0083] When the mounting head 20 approaches the storage section 8, the pickup claws 28 enter the storage section 8. The pickup claws 28 may expand the distance between each other to stretch the component P from the inside and pick it up.

[0084] Alternatively, the pickup claws 28 may pick up the component P by clamping it from the front and rear. The manner in which the mounting head 20 picks up the component P can be selected according to the shape, material, etc. of the component P, in addition to the manner described above.

[0085] 9(c) is a diagram showing an example of the configuration of the pickup claw 28 different from the above-mentioned embodiment. The pickup claw 28 may be configured with a hook-like configuration in which the lower end extends outward. The size of the hook-shaped portion at the lower end is configured to be large enough to be accommodated in the accommodation section 8.

[0086] Fig. 10 is a diagram showing an example of the configuration of the mounting device 3 that constitutes the component mounting system 1 in the first embodiment. Fig. 10 shows an example of the form of the workpiece W held by the holding jig 22. The holding jig 22 is a member that can hold the workpiece W. In the example shown in Fig. 10, the holding jig 22 has a workpiece holding portion 30 on its upper surface that corresponds to the shape of the workpiece W.

[0087] The workpiece holding sections 30 are arranged in accordance with the arrangement of the storage sections 8 on the pallet 7. In the example of the first embodiment, the same number of workpiece holding sections 30 as the number of storage sections 8 arranged in the X-axis direction are arranged on the holding jig 22.

[0088] With this configuration, the mounting head 20 moves to the holding jig 22 while holding the component P picked up from the storage section 8, and can efficiently mount the component P on the workpiece W held in the workpiece holding section 30.

[0089] Once the components P have been mounted on the workpiece W by the mounting head 20 and the pick-up claws 28, the holding jig 22 moves to the next process, and a new holding jig 22 without a component P mounted thereon is supplied to the same position. Note that, although Fig. 10 illustrates an example of an arrangement in which the workpiece holding sections 30 are formed in a single row in the Y-axis direction, the present invention is not limited to this, and the workpiece holding sections 30 may also be formed in multiple rows in the Y-axis direction.

[0090] (Processing procedure of component mounting system) Next, a processing procedure in the component mounting system 1 in the first embodiment will be described. Fig. 11 is a flowchart showing an example of a main processing procedure executed by the component mounting system 1 in the first embodiment. The processes performed by each device shown below are executed based on instructions (commands) sent from a control unit (not shown).

[0091] The component mounting system 1 first supplies components P from the supply feeder 6 to the pallet 7 (step S1). Once the components P have been supplied to the pallet 7, the component alignment device 2 executes a shaking step in which the drive mechanism 9 is driven to shake the pallet 7 (step S2). The specific processing procedure of the shaking step (step S2) will be described later.

[0092] After the shaking step (step S2) is performed, the component alignment device 2 then performs a removal step (step S3) to remove the components P remaining on the placement surface of the pallet 7. The specific processing procedure of the removal step (step S3) will be described later.

[0093] After the removal step (step S3) is executed, the mounting device 3 executes a pick-up step of picking up the component P from the pallet 7 (step S4). The specific processing procedure of the pick-up step (step S4) will be described later.

[0094] After the pick-up step (step S4) is performed, the mounting device 3 then performs a mounting step (step S5) of mounting the component P on the workpiece W. The specific processing procedure of the mounting step (step S5) will be described later.

[0095] The processing procedure shown in Figure 11 shows an example in which the mounting device performs a pickup process (step S4) in which components P are picked up one row at a time when multiple rows of storage sections 8 are arranged on the pallet 7 in the Y-axis direction.

[0096] When the mounting process (step S5) is performed, the control unit increments (adds) the count value (step S6). Then, it determines whether the count value has reached a predetermined value (step S7). Here, the predetermined value is the number of rows of the containers 8 in the Y-axis direction on the pallet 7.

[0097] If the count value is a predetermined value (YES in step S7), the control unit executes an initialization process to initialize the placement of each device that constitutes the component mounting system 1 (step S8), then returns to step S1 and repeatedly executes the above processing from step S1 onwards.

[0098] On the other hand, if the count value is not the predetermined value (NO in step S7), it means that the pickup of parts P from all storage sections 8 on the pallet 7 has not been completed, so the process returns to the pickup process (S4) and the processes following the pickup process (step S4) are repeatedly executed to pick up parts P from the storage sections 8 in the row corresponding to the count value.

[0099] After the mounting process (step S5) is performed, the mounting device 3 moves the holding jig 22 on which the component P is mounted to the workpiece W (step S9), places a new holding jig 22 to hold the workpiece W on which the component P is not mounted (step S10), returns to the pick-up process (S4), and repeats the subsequent processing for the number of rows in the storage section 8.

[0100] 12 is a flowchart showing an example of a specific processing procedure of the shaking step (step S2 in FIG. 11) in the first embodiment. Components P are supplied in irregular positions on the mounting surface of the pallet 7, and the component alignment device 2 starts shaking the pallet 7 (step S11).

[0101] In the first embodiment, the component alignment device 2 rocks the pallet 7 in some or all of the X-axis direction (left-right direction), Y-axis direction (front-back direction), and Z-axis direction (up-down direction). Then, when a predetermined time has elapsed after the start of rocking (step S13), the component alignment device 2 stops rocking the pallet 7 (step S15), thereby ending the rocking process.

[0102] 13 is a flowchart showing an example of a specific processing procedure of the removing step (step S3 in FIG. 11) in the first embodiment. When the shaking step (step S2 in FIG. 11) is executed, the component alignment device 2 starts moving the wiper 11 (step S21). The wiper 11 moves along the mounting surface of the pallet 7. The wiper 11 may move along the mounting surface of the pallet 7 toward the storage section 13.

[0103] When the wiper 11 reaches the predetermined position (step S23), the component alignment device 2 returns the wiper 11 to its initial position (step S25). As an example, the component alignment device 2 may move the wiper 11 in the opposite direction to the storage section 13 and return it to its initial position. When the wiper 11 returns to its initial position, the component alignment device 2 stops the wiper 11 (step S27) and ends the removal process. By performing this processing procedure, the components P that remain on the mounting surface of the pallet 7 without being stored in the storage section 8 can be removed from the mounting surface.

[0104] 14 is a flowchart showing an example of a specific processing procedure of the pick-up process (step S4 in FIG. 11) in the first embodiment. The pick-up process is a process in which the mounting head 20 and the pick-up claw 28 pick up the component P accommodated in the accommodation section 8. When the removal process (step S3 in FIG. 11) is executed, the mounting device 3 starts moving the mounting head 20 (step S31).

[0105] When the mounting head 20 reaches the predetermined position (step S33), the mounting device 3 stops the mounting head 20 (step S35). In the first embodiment, an example of the predetermined position can be set to above the storage unit 8 disposed on the mounting surface of the pallet 7.

[0106] When the mounting head 20 stops at a predetermined position where pickup is possible, the mounting device 3 picks up the component P using the mounting head 20 and pickup claw 28 (step S37), thereby completing the pickup process. The mounting head 20 and pickup claw 28 may move up and down in the Z-axis direction.

[0107] 15 is a flowchart showing an example of a specific processing procedure of the mounting process (step S5 in FIG. 11) in the first embodiment. The mounting process is a process of mounting a component P picked up by the mounting head 20 onto a workpiece W held by a holding jig 22.

[0108] In the mounting process (step S5), the movement of the mounting head 20 starts (step S41), and when the mounting head 20 reaches a predetermined position (step S43), the mounting device 3 stops the mounting head 20 (step S45). As an example of the predetermined position in the first embodiment, a position above the workpiece W held by the holding jig 22 can be set.

[0109] When the mounting head 20 is stopped (step S45), the component P is mounted on the workpiece W (step S47), thereby completing the mounting process. As an example of a mounting method, the mounting head 20 may be lowered and the pickup claws 28 may be opened and closed to mount the component P on the workpiece W.

[0110] 16 is a flowchart showing an example of a specific processing procedure of the initialization step (step S8 in FIG. 11) in the first embodiment. After executing the mounting step (step S5 in FIG. 11), the component mounting system 1 returns the component alignment device 2 and the mounting device 3 that constitute the component mounting system 1 to their initial states.

[0111] The control unit resets the count value (step S51). Next, the mounting device 3 moves the mounting head 20 to the initial position (step S53).

[0112] When the initialization step (step S8) is completed, the component mounting system 1 returns to step S1 again (see FIG. 11), supplies a plurality of components P from the supply feeder 6 to the pallet 7, and executes the subsequent processes.

[0113] (Second embodiment) Next, a second embodiment of the present invention will be described. In the second embodiment, a component mounting system 50 includes a first component alignment device 2a(2) and a second component alignment device 2b(2) that include common hardware.

[0114] 17 is an overall view showing an example of the configuration of a component mounting system 50 according to the second embodiment. The first component alignment device 2a(2) and the second component alignment device 2b(2) may be arranged adjacent to each other. The mounting device 3 picks up components P accommodated in the accommodation section 8 of each of the first component alignment device 2a(2) and the second component alignment device 2b(2) and mounts the components P on the workpiece W.

[0115] In the second embodiment, the first component alignment device 2a(2) and the second component alignment device 2b(2) may perform the shaking step at different times. The first component alignment device 2a(2) and the second component alignment device 2b(2) may perform the removing step at different times.

[0116] The mounting device 3 alternately picks up components P from the first component alignment device 2a(2) and the second component alignment device 2b(2). As an example, after the mounting device 3 completes the process of picking up components P from the storage section 8 of the first component alignment device 2a(2) and mounting them on the workpiece W, it performs a process of picking up components P from the storage section 8 of the second component alignment device 2b(2) and mounting them on the workpiece W. In other words, after completing the process of the second component alignment device 2b(2), the mounting device 3 again performs the process of picking up components P from the storage section 8 of the first component alignment device 2a(2) and mounting them on the workpiece W.

[0117] The operation of each device constituting the component mounting system 50 in the second embodiment will be described. 18 is a sequence diagram showing an example of an operation mode of the component mounting system 50 in the second embodiment. The operation of each device is performed by sending a command from a control unit (not shown).

[0118] In the example shown in Fig. 18, first, a plurality of components P are supplied in irregular positions to the pallet 7 of the first component alignment device 2a(2) (process P1). Once the components P are supplied, the first component alignment device 2a(2) executes a shaking process to shake the pallet 7 (process P3). The processing procedure of the shaking process (process P3) is the same as the processing procedure described in the first embodiment.

[0119] When the shaking step (process P3) is completed, the first component alignment device 2a(2) executes the removal step (process P5). The processing procedure of the removal step (process P5) is the same as the processing procedure described in the first embodiment.

[0120] When the removal process (process P5) is performed in the first component alignment device 2a(2), the mounting device 3 performs a mounting process (process P7) to pick up a component P from the storage section 8 of the first component alignment device 2a(2) and mount it on the workpiece W. In the second embodiment, the processing procedure of the mounting process (process P7) is a processing procedure in which the pick-up process and mounting process in the first embodiment are performed in succession.

[0121] When the mounting process (process P7) is completed, the mounting device 3 replaces the holding jig 22 (process P9) and supplies a holding jig 22 that holds a workpiece W on which a component P is not mounted.

[0122] When the removal step (process P5) in the first component alignment device 2a(2) is completed, multiple components P are supplied in irregular positions to the pallet 7 of the second component alignment device 2b(2) (process P11). Once the components P have been supplied, the second component alignment device 2b(2) executes a shaking step (process P13), and once the shaking step (process P13) is completed, it executes a removal step (process P15). The shaking step (process P13) and removal step (process P15) in the second component alignment device 2b(2) are the same as the shaking step and removal step in the first component alignment device 2a(2).

[0123] When the mounting device 3 completes the mounting process (process P7) in the first component alignment device 2a(2), the first component alignment device 2a(2) moves the wiper 11 to its initial position (process P17). When the wiper 11 returns to its initial position, the first component alignment device 2a(2) supplies components P to the pallet 7 (process P19).

[0124] Then, when the components P are supplied, the first component alignment device 2a(2) executes a shaking step (process P21), and after the shaking step (process P21) is executed, executes a removing step (process P23).

[0125] After completing the mounting process (process P7) in the first component alignment device 2a(2), the mounting device 3 moves the mounting head 20 to the initial position (process P25) and then performs the mounting process (process P27) in the second component alignment device 2b(2), for which the removal process (process P15) has been completed.

[0126] Upon completing the mounting process (process P27), the mounting device 3 replaces the holding jig 22 (process P29) and supplies a holding jig 22 that holds a workpiece W on which no component P is mounted. Then, the mounting device 3 moves the mounting head 20 to the initial position (process P31).

[0127] On the other hand, when the mounting process (process P27) by the mounting device 3 is completed and the holding jig 22 is replaced (process P29), the second component alignment device 2b(2) moves the wiper 11 to the initial position (process P31).

[0128] Then, in the second component alignment device 2b(2), the components P are again supplied to the pallet 7, and the shaking step and the removing step are carried out in sequence.

[0129] In the example shown in Figure 18, from the time when the mounting device 3 starts the mounting process (process P7) in which the component P stored in the storage section 8 of the first component alignment device 2a(2) is mounted on the work W until the mounting head 20 is moved to the initial position (process P25), the second component alignment device 2b(2) supplies the component P (process P11), and sequentially executes a shaking process (process P13) and a removal process (process P15).

[0130] In addition, between the time when the mounting device 3 starts the mounting process (process P27) in which the component P stored in the storage section 8 of the second component alignment device 2b(2) is mounted on the work W and the time when the mounting head 20 is moved to the initial position (process P31), the first component alignment device 2a(2) supplies the component P (process P19), and sequentially executes a shaking process (process P21) and a removal process (process P23).

[0131] That is, in the component mounting system 50 of the second embodiment, while the mounting process is being performed by the mounting device 3 in either the first component alignment device 2a(2) or the second component alignment device 2b(2), the components P are supplied to the other component alignment device 2, and the shaking process and removal process are performed in sequence. This configuration improves the efficiency of the alignment of the components P and the mounting process on the workpiece W.

[0132] (Third embodiment) Next, a third embodiment of the present invention will be described. Fig. 19 is a diagram showing an example of the overall configuration of a component mounting system 70 according to the third embodiment of the present invention. In the third embodiment of the present invention, the component mounting system 70 includes a plurality of component alignment devices 2, a removal mechanism 75 equipped with a wiper 80 capable of removing components P remaining on a pallet 7, and a mounting device 3 that mounts components P stored in storage sections 8 of the pallet 7 onto workpieces W.

[0133] 19, the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are disposed adjacent to each other in the X-axis direction. Alternatively, these two component alignment devices 2 may be disposed adjacent to each other in the Y-axis direction.

[0134] The component mounting system 70 in the third embodiment may include a second transport unit 78 that moves the third component alignment device 2c(2) and the fourth component alignment device 2d(2), which are arranged adjacent to each other, along the arrangement direction.

[0135] 19, the component mounting system 70 includes one supply feeder 6 that supplies components P to a pallet 7. In the third embodiment, when either the third component alignment device 2c(2) or the fourth component alignment device 2d(2) can receive a supply of components P from the supply feeder 6, the other cannot receive a supply of components P from the supply feeder 6.

[0136] The third component alignment device 2c(2) and the fourth component alignment device 2d(2) move along the arrangement direction so as to alternately receive the supply of components P from the supply feeder 6. As an example, the third component alignment device 2c(2) and the fourth component alignment device 2d(2) may be configured to be movable to either a first position where the third component alignment device 2c(2) can receive the supply of components P from the supply feeder 6 but the fourth component alignment device 2d(2) cannot receive the supply of components P from the supply feeder 6, or a second position where the third component alignment device 2c(2) cannot receive the supply of components P from the supply feeder 6 but the fourth component alignment device 2d(2) can receive the supply of components P from the supply feeder 6.

[0137] As an example, the first position and the second position may be set as positions shifted from each other by an amount corresponding to the size of the component aligning device 2 in the arrangement direction.

[0138] 19, the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are disposed adjacent to each other in the X-axis direction. When the second transport unit 78 moves the third component alignment device 2c(2) and the fourth component alignment device 2d(2) in the X-axis direction, which is the arrangement direction, to the first position, the third component alignment device 2c(2) can receive the supply of components P from the supply feeder 6 onto the pallet 7. On the other hand, at the first position, the fourth component alignment device 2d(2) is not in a position corresponding to the supply feeder 6, and therefore cannot receive the supply of components P from the supply feeder 6 onto the pallet 7.

[0139] Next, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) move from the first position to the second position in the X-axis direction, the third component alignment device 2c(2) is not in a position corresponding to the supply feeder 6, and therefore cannot receive the supply of components P from the supply feeder 6 onto the pallet 7. On the other hand, at the second position, the fourth component alignment device 2d(2) is in a position corresponding to the supply feeder 6, and therefore can receive the supply of components P from the supply feeder 6 onto the pallet 7.

[0140] In the third embodiment, the second transport unit 78 can move the third component alignment device 2c(2) and the fourth component alignment device 2d(2) in the arrangement direction and set them to either the first position or the second position.

[0141] The component mounting system 70 in the third embodiment includes a removal mechanism 75 that can remove, from the mounting surface of the pallet 7, components P that are not accommodated in the accommodation section 8. As in the example shown in FIG. 19 , the removal mechanism 75 may be arranged to be able to remove components P that remain on the pallet 7 of the component alignment device 2 that can receive a supply of components P from the supply feeder 6, out of the third component alignment device 2c(2) and the fourth component alignment device 2d(2).

[0142] The removal mechanism 75 further includes a wiper 80 that can come into contact with the placement surface of the pallet 7 and move in a predetermined direction to remove the components P. The wiper 80 can move on the pallet 7 along the placement surface of the components P, and can remove the components P that are left behind without being stored in the storage section 8.

[0143] In the component mounting system 70 of the third embodiment, when either the third component alignment device 2c(2) or the fourth component alignment device 2d(2) receives a supply of components P from the supply feeder 6, the removal mechanism 75 abuts the wiper 80 on the pallet 7 of the component alignment device 2 that has received the supply of components P and moves it toward the storage section 13.

[0144] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are placed in the first position by the second transport unit 78, the third component alignment device 2c(2) is supplied with components P from the supply feeder 6. After the third component alignment device 2c(2) performs a shaking process in which the pallet 7 is shaken, the removal mechanism 75 moves the wiper 80 along the placement surface of the pallet 7 of the third component alignment device 2c(2) and can remove components P that remain without being stored in the storage unit 8.

[0145] On the other hand, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are placed in the second position by the second transport unit 78, the fourth component alignment device 2d(2) is supplied with components P from the supply feeder 6. After the shaking process in which the pallet 7 is shaken in the fourth component alignment device 2d(2) is performed, the removal mechanism 75 moves the wiper 80 along the placement surface of the pallet 7 of the fourth component alignment device 2d(2) to remove components P that remain without being stored in the storage unit 8.

[0146] The component mounting system 70 in the third embodiment includes a mounting device 3 that can mount onto a workpiece W components P aligned by a third component alignment device 2c(2) and a fourth component alignment device 2d(2).

[0147] In the third embodiment, the mounting device 3 picks up components P stored in the storage section 8 from the pallet 7 of the component alignment device 2, either the third component alignment device 2c(2) or the fourth component alignment device 2d(2), which is located in a position where it cannot receive components P from the supply feeder 6.

[0148] The mounting device 3 includes a mounting head 20 that picks up a component P and mounts it on a workpiece. In the third embodiment, the mounting device 3 may include an arm that causes the mounting head 20 to pick up the component P from either the third component alignment device 2c(2) or the fourth component alignment device 2d(2).

[0149] 19, the mounting device 3 may be configured with a SCARA robot or the like that is movable on the XY plane. The mounting device 3 may be configured so that the mounting head 20 can move up and down in the Z-axis direction.

[0150] Fig. 20 is a diagram showing an example of the configuration of a component mounting system 70 according to the third embodiment. Fig. 20 is a schematic plan view of the component mounting system 70. In the example shown in Fig. 20, the mounting apparatus 3 includes an arm that is movable on the XY plane.

[0151] The mounting head 20 can move within a movable area F1 according to the movable area of ​​the arm. The movable area F1 includes both the first position and the second position to which the third component alignment device 2c(2) and the fourth component alignment device 2d(2) can move.

[0152] 20, the supply feeder 6 and the removal mechanism 75 are arranged side by side in the Y-axis direction. When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the first position, the third component alignment device 2c(2) can receive a supply of components P from the supply feeder 6. After the third component alignment device 2c(2) performs the rocking process, the removal mechanism 75 can remove the components P remaining on the pallet 7.

[0153] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the second position, the fourth component alignment device 2d(2) can receive a supply of components P from the supply feeder 6. After the rocking process is performed in the fourth component alignment device 2d(2), the removal mechanism 75 can remove the components P remaining on the pallet 7.

[0154] The mounting device 3 moves within the movable area F to move the mounting head 20 so that it approaches a component alignment device 2 that is in a position where it cannot receive components P from the supply feeder 6. In the example shown in FIG. 20 , when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the first position, the mounting head 20 approaches the fourth component alignment device 2d(2), which is in a position where it cannot receive components P from the supply feeder 6. The mounting head 20 picks up a component P stored in the storage section 8 of the pallet 7 of the fourth component alignment device 2d(2) and mounts it on a workpiece W.

[0155] On the other hand, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the second position, the mounting head 20 approaches the third component alignment device 2c(2), which is in a position where it cannot receive the supply of components P from the supply feeder 6. The mounting head 20 picks up a component P stored in the storage section 8 of the pallet 7 of the third component alignment device 2c(2) and mounts it on the workpiece W.

[0156] Fig. 21 is a diagram showing an example of the configuration of a component mounting system 70 according to the third embodiment. Fig. 21 illustrates an example of the operation of the third component alignment device 2c(2), the fourth component alignment device 2d(2), and the removal mechanism 75. The third component alignment device 2c(2) and the fourth component alignment device 2d(2) are provided with a guide 82 at the end opposite the end where the storage section 13 is located. When the rocking process is completed, the component alignment device 2 lowers the guide 82.

[0157] When the guide 82 is lowered, the removal mechanism 75 brings the wiper 80 into contact with the mounting surface of the pallet 7. By lowering the guide 82, it is possible to prevent the guide 82 from becoming an obstacle when the wiper 80 comes into contact with the mounting surface. When the guide 82 is lowered, the removal mechanism 75 brings the wiper 80 into contact with the upper surface of the end of the pallet 7, and moves the mounting surface toward the storage unit 13.

[0158] Note that the guide 82 may start to descend when the wiper 80 moves and reaches above the guide 82. The wiper 80 may also start to descend at the same time that the guide 82 starts to descend. According to this type of operation, at least one of the guide 82 and the wiper 80 functions as a side wall of the pallet 7. This makes it possible to effectively prevent the parts P from falling out of the pallet 7.

[0159] The guide 82 may stop when it has descended until its upper end is at substantially the same height as the placement surface of the pallet 7. Alternatively, the guide 82 may descend until its upper end is lower than the placement surface of the pallet 7.

[0160] 21 , the removal mechanism 75 brings the wiper 80 into contact with the mounting surface so that the wiper 80 presses against the mounting surface. The removal mechanism 75 may move over the mounting surface while pressing the mounting surface downward. When the removal mechanism 75 reaches the storage unit 13, the removal mechanism 75 moves the wiper 80 toward the end opposite the storage unit 13 and returns it to its initial position. Alternatively, differently from this, the removal mechanism 75 may stop the wiper 80 when it reaches the storage unit 13.

[0161] With this configuration, when the wiper 80 moves over the placement surface, the components P that are not accommodated in the accommodation section 8 and remain on the placement surface can be suitably removed.

[0162] In the example shown in Fig. 21, the wiper 80 may be configured to be able to press the pallet 7 in the Z-axis direction. As an example, the wiper 80 may have an elastic body such as a spring in the shaft portion that is able to press the mounting surface of the pallet 7 in the Z-axis direction. Alternatively, differently from this, the wiper 80 may be configured to be able to press in the Z-axis direction by pressure such as hydraulic pressure or water pressure. Note that the wiper 80 may be configured to be able to extend and retract in the Z direction.

[0163] Next, the operation of each device constituting the component mounting system in the third embodiment will be described. Fig. 22 is a sequence diagram showing an example of the operation of the component mounting system 70 in the third embodiment. Each device constituting the component mounting system 70 operates based on a command received from a control unit (not shown). Note that the processing procedures in the shaking process, removal process, pick-up process, and mounting process executed by the component mounting system 70 in the third embodiment are the same as the processing procedures described in the first embodiment.

[0164] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the first position, the components P are supplied to the third component alignment device 2c(2) from the supply feeder 6 (process P50). Meanwhile, the mounting head 20 approaches the fourth component alignment device 2d(2), and a mounting process is executed in which the components P stored in the storage section 8 are picked up and mounted on the workpiece W (process P51).

[0165] When components P are supplied to the pallet 7 (process P50), a shaking process is performed in the third component alignment device 2c(2) (process P52). After the shaking process is performed, a removal process is performed in the third component alignment device 2c(2) by the removal mechanism 75 (process P53), and components P remaining on the placement surface without being accommodated in the accommodation section 8 of the pallet 7 are removed.

[0166] When the removal process (process P53) is completed in the third component alignment device 2c(2) and the mounting process (process P51) is completed in the fourth component alignment device 2d(2), the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are moved from the first position to the second position by the second transport unit 78 (process P54).

[0167] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) move to the second position, the mounting head 20 approaches the third component alignment device 2c(2), and a mounting process is executed in which a component P stored in the storage section 8 is picked up and mounted on the workpiece W (process P55). Meanwhile, a component P is supplied from the supply feeder 6 to the fourth component alignment device 2d(2) (process P56), and once the component P is supplied, a swinging process is executed (process P57).

[0168] After the shaking process is executed (process P57), the removal process is executed in the fourth component alignment device 2d (2) by the removal mechanism 75 (process P58), and components P remaining on the placement surface without being accommodated in the storage section 8 of the pallet 7 are removed.

[0169] When the mounting process (process P55) is completed in the third component alignment device 2c(2) and the removal process (process P58) is completed in the fourth component alignment device 2d(2), the second transport unit 78 moves the third component alignment device 2c(2) and the fourth component alignment device 2d(2) from the second position to the first position.

[0170] When the third component aligning device 2c(2) and the fourth component aligning device 2d(2) move to the first position, the process returns to the above-described process P50 and process P51, and thereafter, the processing from process P50 to process P58 is repeatedly executed.

[0171] In the third embodiment, by operating each device constituting the component mounting system 70 in this manner, different processes are executed in parallel in the third component alignment device 2c(2) and the fourth component alignment device 2d(2), thereby improving work efficiency.

[0172] (Variation) In the above first to third embodiments, one embodiment of the present invention has been described, but the present invention is not limited to the configurations described in the above embodiments, and various modified examples are applicable.

[0173] In the third embodiment, the mounting apparatus 3 includes the mounting head 20, and the removal mechanism 75 includes the wiper 80. However, the present invention is not limited to this, and the mounting apparatus 3 may include the mounting head 20 and the wiper 80. In this case, the mounting apparatus 3 executes the removal process and the mounting process.

[0174] In each of the above embodiments, the pallet 7 is swung in the X-axis direction, the Y-axis direction, and the Z-axis direction by the drive mechanism 9, but this is not limiting, and the pallet 7 may be swung only in the X-axis direction, only in the X-axis and Y-axis directions, or only in the Z-axis direction. In particular, by not adopting a configuration in which the pallet 7 is swung in the Z-axis direction, it is possible to effectively prevent the parts P from coming off the pallet 7.

[0175] In each of the above embodiments, the case where the parts P remaining on the placement surface of the pallet 7 are removed by a wiper has been described, but this is not limiting, and the parts P may be removed by air pressure or water pressure.

[0176] In each of the above embodiments, the pickup process and the mounting process are performed using the mounting head 20 and the pickup claws 28, but this is not limiting, and the mounting head 20 does not have to be equipped with the pickup claws 28. The mounting head 20 may also be equipped with a mechanism for holding the component P.

[0177] In the removal process described in each of the above embodiments, the case has been described in which the wiper moves in the determination direction when it reaches the storage unit 13 and returns to the initial position. However, the present invention is not limited to this, and the wiper may stop when it reaches the storage unit 13 and wait until the mounting process by the mounting device 3 is completed.

[0178] In each of the above embodiments, the storage section 8 is described as being recessed downward from the mounting surface of the pallet 7, but this is not limited to this, and the storage section 8 may also be formed by protruding upward from the mounting surface of the pallet 7.

[0179] Unlike the above-described embodiments, the storage unit 8 may move up and down at a predetermined timing. For example, when the removal step is performed, the storage unit 8 may rise above the placement surface of the pallet 7. [Explanation of symbols]

[0180] 1. Component Mounting System (Component Mounting System) 2. Parts alignment device 2a First component alignment device (component alignment device) 2b Second component alignment device (component alignment device) 2c Third component alignment device (component alignment device) 2d Fourth component alignment device (component alignment device) 3 Mounting equipment 7 Palettes 8 Storage section 9 Drive mechanism (drive means) 11 Wiper (removal means) 13 Storage section (storage means) 20 Placement head 22 Holding jig 24 First Transportation Section (Transportation) 28 Pickup claw 50 Component Mounting System (Component Mounting System) 70 Component Mounting System (Component Mounting System) 75 Removal mechanism (removal means) 80 Wiper (removal means) S2 Swinging process (swinging step) S3 Removal process (removal step) S4 Pickup process (pickup step) S5 Mounting process (mounting step) P parts double work

Claims

1. a pallet on which a plurality of components supplied in irregular positions can be placed and which has recesses arranged at predetermined intervals to accommodate the components; a driving means for swinging the pallet in a predetermined direction; a removal means that moves on the pallet in a predetermined direction along the component placement surface after the driving means has stopped, and is capable of removing from the placement surface any of the components that are not accommodated in the recesses; A component alignment device comprising:

2. a storage means for storing the parts removed from the placement surface by the removing means; Furthermore, 2. The component aligning device according to claim 1, wherein the removing means is configured to move on the placement surface while pressing the placement surface in a vertical direction, and to be movable up to above the storing means.

3. the removing means is configured to be movable while maintaining a bottom surface at a predetermined height from the flat portion of the placement surface, The component alignment device according to claim 1 , wherein the height is smaller than the size of the component.

4. a component aligning device according to any one of claims 1 to 3; a mounting device that picks up the components from the component alignment device and mounts them on a workpiece; A component mounting system comprising: The mounting device includes: a mounting head that picks up the component accommodated in the recess and mounts the picked-up component on the workpiece; a holding jig for holding the workpiece; a moving means for moving the mounting head to a position corresponding to the workpiece held by the holding jig when the component is picked up by the mounting head; Equipped with the mounting head is configured to be able to pick up the components using a plurality of pickup claws arranged in correspondence with the recesses, A component mounting system in which the holding jig holds the workpiece in a manner corresponding to the arrangement of the pickup claws.

5. A component alignment method for arranging a plurality of components supplied in irregular positions on a pallet having a recess capable of accommodating the components, comprising: a rocking step of rocking the pallet in a predetermined direction; a removing step of moving a wiper along the component placement surface on the pallet after the shaking step is performed, to remove components that are not accommodated in the recesses from the placement surface; Perform the part alignment method.

6. a storage means for storing the parts removed from the placement surface is disposed adjacent to the pallet; 6. The component aligning method according to claim 5, wherein the removing step comprises moving the component on the placement surface while pressing the placement surface in a vertical direction, and moving the component above the storage means.

7. a rocking step of rocking a pallet having recesses capable of accommodating a plurality of parts supplied in irregular positions in a predetermined direction; a removing step of moving a wiper along the component placement surface on the pallet after the shaking step is performed, to remove components that are not accommodated in the recesses from the placement surface; a pickup step of picking up the component accommodated in the recess by a mounting head having a plurality of pickup claws arranged corresponding to the recesses after the removal step has been performed; a mounting step of mounting the components picked up by the mounting head onto a workpiece held by a holding jig in an arrangement corresponding to the arrangement of the mounting head; A component mounting method that performs the above.

Images