Odd-shaped parts mounting machine

Abstract

To cope with mounting of various parts by dividing an ejector into an ejector base part and an ejector tip part, to hold various parts by dividing a gripper into a gripper base part and a gripper jaw part, and to smoothly replace the ejector tip part and the gripper jaw part.SOLUTION: The special-shaped component mounting machine includes X -, Y -, and Z-axis direction moving means, gripper holding means 10, an ejector 12, gripper driving means 13, ejector driving means, and the like, the ejector 12 includes an ejector base portion 15 and an ejector tip portion 16, magnetic fixing means for detachably fixing the ejector base portion 15 and the ejector tip portion 16 includes a magnetic portion 25, an annular permanent magnet 26, and a projecting portion 27 made of a magnetic material, a gripper includes a gripper base portion 41 and a gripper jaw portion 42, jaw portion fixing means 43 includes a fitting portion 44, a ring-shaped permanent magnet 45, and a projecting portion 46, and chip portion automatic changing means and jaw portion automatic changing means.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an odd-shaped component mounting machine that includes a gripper that holds a component, an ejector that pushes out the component held by the gripper, gripper drive means that opens and closes the gripper, and ejector drive means that operates the ejector. [Background technology]

[0002] 2. Description of the Related Art An odd-shaped component mounting machine is known that has an ejector that pushes out a component held by a gripper and an ejector drive means that operates the ejector. For example, Patent Document 1 (Japanese Patent No. 5903159) discloses a chuck device (10) (corresponding to an "irregular-shaped component mounting machine") that grips a component (50) and pushes a protrusion of the component (50) into a hole in an object, and that the chuck device (10) is equipped with a clamping section (51) (corresponding to a "gripper"), a pusher section (55) (corresponding to an "ejector") that pushes the component into a hole in the object, and two air cylinder sections (90) and (58) (corresponding to a "gripper driving means" and an "ejector driving means") that drive the clamping section (51) and the pusher section (55), respectively, that the clamping section (51) can be replaced with one that matches the size of the component to be clamped, and that the shapes of the clamping section (51) and the pusher section (55) may be changed as appropriate (see, in particular, paragraphs 0009 to 0010, 0058, and Figure 3).

[0003] Patent Document 2 (Japanese Patent No. 6764997) discloses that a component holder (78) is attached to the bottom surface of a component mounting device (24), the component holder (78) holds lead components (92), and includes a main body (80), three types of holders (81), (82), and (83), an opening / closing device (86), and pushers (88A), (88B), and (88C), and that the three types of holders (81), (82), and (83) and the pushers (88A), (88B), and (88C) are attached to the bottom surface of the main body (80) in an integrally detachable manner and rotatable about a vertical axis, and are configured to be automatically replaceable on a tool station (85) (see, in particular, paragraphs 0016-0017 and Figures 3-6). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5903159 [Patent Document 2] Patent No. 6764997 Summary of the Invention [Problem to be solved by the invention]

[0005] Although Patent Document 1 describes that the clamp portion (51) of the chuck device (10) can be replaced with one that matches the size of the part to be clamped, and that the shapes of the clamp portion (51) and the pusher portion (55) can be changed as appropriate, it does not provide any specific explanation regarding the replacement of the clamp portion (51) or the change in shape of the clamp portion (51) and the pusher portion (55). Furthermore, Patent Document 2 describes that in the component insertion device 24, a component holder 78 is attached to the bottom end surface of the device, and that the component holder 78 includes a main body 80, three types of holders 81, 82, and 83, and pushers 88A, 88B, and 88C, and that the holders 81, 82, and 83 and the pushers 88A, 88B, and 88C are detachable from the bottom end surface of the main body 80 as a unit and configured to be automatically replaceable on the tool station 85. However, it does not describe any specific configuration or replacement procedure for automatic replacement on the tool station 85. Furthermore, in the component insertion device (24) of Patent Document 2, the holder (gripper) and pusher (ejector) cannot be automatically replaced separately, and it was necessary to prepare a large number of combinations of holder and pusher to accommodate the installation of various components. The first objective of the present invention is to divide the ejector into an ejector base and an ejector tip so that it can accommodate the attachment of a variety of components. The second objective is to divide the gripper into a gripper base and a gripper jaw so that it can hold a variety of components. The third objective is to enable the ejector tip and gripper jaw to be smoothly replaced. [Means for solving the problem]

[0006] The invention according to claim 1 to solve the above problem is: An odd-shaped component mounting machine comprising a gripper for holding a component, an ejector for pushing out the component held by the gripper, gripper drive means for opening and closing the gripper, and ejector drive means for operating the ejector, the ejector has an ejector base portion operated by the ejector driving means and an ejector tip portion detachably attached to a tip of the ejector base portion, the ejector base has a recess on its tip end surface, a protrusion that fits into the recess is provided on the rear end side of the ejector tip portion, The ejector tip may be removably fixed to the ejector base by a magnetic fixing means or a clamp fixing means that fixes the ejector tip to the ejector base by fitting the recess into the protrusion.

[0007] The invention according to claim 2 for solving the above problem is the odd-shaped component placement machine according to claim 1, The gripper has a gripper base that is operated by the gripper driving means, and a gripper jaw that is detachable from the tip of the gripper base.

[0008] The invention according to claim 3 for solving the above problem is the odd-shaped component placement machine according to claim 2, The ejector base is characterized by being provided with an automatic tip section exchange means for automatically attaching and detaching the ejector tip section to the tip of the ejector base, and an automatic jaw section exchange means for automatically attaching and detaching the gripper jaw section to the tip of the gripper base. [Effects of the Invention]

[0009] The odd-shaped component mounting machine of the invention according to claim 1 has an ejector divided into an ejector base and an ejector tip, so that it can accommodate the mounting of a variety of components. The ejector base has a recess on its leading end surface, and a protrusion is provided on the rear end side of the ejector tip. The recess and the protrusion fit together to provide a magnetic or clamp fixing means for removably fixing the ejector tip to the ejector base, so that the ejector tip can be smoothly replaced.

[0010] In addition to the above-mentioned effects of the invention of claim 1, the odd-shaped component mounting machine of the invention of claim 2 can hold a variety of components because the gripper is divided into a gripper base and a gripper jaw.

[0011] In addition to the above-mentioned effects of the invention according to claim 2, the odd-shaped component mounting machine of the invention according to claim 3 is equipped with an automatic tip part replacement means that automatically detaches and attaches an ejector tip part to the tip of the ejector base, and an automatic jaw part replacement means that automatically detaches and attaches a gripper jaw part to the tip of the gripper base, making it extremely easy to replace the ejector tip part and the gripper jaw part. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram showing the overall configuration of a component mounting apparatus to which an odd-shaped component mounting machine is applied; [Figure 2] FIG. 1 is a diagram showing the configuration of an odd-shaped component mounting machine according to a first embodiment. [Figure 3] 3A and 3B are diagrams illustrating a magnetic fixing means of an ejector in the first embodiment. [Figure 4] FIG. 3 is a diagram illustrating an automatic tip part replacement means in the first embodiment. [Figure 5] 10A and 10B are diagrams illustrating a jaw fixing means in the second embodiment. [Figure 6] FIG. 10 is a diagram illustrating an automatic jaw part replacement means in the second embodiment. [Figure 7] 10A and 10B are diagrams illustrating a clamp fixing means for an ejector according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described with reference to Examples 1 and 2. [Example]

[0014] FIG. 1 is a diagram showing the overall configuration of a component mounting apparatus 1 to which an odd-shaped component mounting machine 2 according to a first embodiment is applied, and FIG. 2 is a diagram showing the configuration of the odd-shaped component mounting machine 2. As shown in FIG. As shown in FIG. 1, the component mounting device 1 is equipped with an X-axis movement means 3 for moving the odd-shaped component mounting machine 2 in the X-axis direction, a Y-axis movement means 4 for moving the X-axis movement means 3 in the Y-axis direction, a gripper storage means 6 for stocking various grippers 5 to be mounted on the odd-shaped component mounting machine 2, a component supply means 9 for supplying components 8 to be mounted on a board 7, and an automatic tip part exchange means 30 for stocking various ejector tip parts 16 to be mounted on the ejector base part 15 of the ejector 12 that pushes out the components 8 held by the grippers 5.

[0015] As shown in FIG. 2, the odd-shaped component mounting machine 2 of Example 1 includes a gripper holding means 10 that detachably holds various grippers 5, a Z-axis movement means 11 that moves the gripper holding means 10 in the Z-axis direction, an ejector 12 that pushes out the component 8 held by the gripper 5, a gripper drive means 13 that opens and closes the gripper 5, and an ejector drive means 14 that moves the ejector 12 in the Z-axis direction. The ejector 12 is composed of an ejector base 15 and an ejector tip 16 that is detachable from the lower part of the ejector base 15 and is selected depending on the type of gripper 5 and the type of component 8. The ejector drive means 14 is also composed of an ejector holding means 17 that holds the ejector base 15 slidably in the Z-axis direction, an air supply means 18 that sends air to the upper part of the ejector holding means 17, an exhaust means 19 that exhausts air from the lower part of the ejector holding means 17, and a spring 20 that pushes the ejector base 15 upward. The air supply amount measuring means 21 and the exhaust amount measuring means 22 are means for controlling the movement of the ejector 12, but are not directly related to the present invention, so a description thereof will be omitted.

[0016] The procedure for mounting components 8 on board 7 using odd-shaped component mounting machine 2 is as follows. (Step 1) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the gripper 5 directly above the component 8 placed on the component providing means 9. (Step 2) The gripper driving means 13 is operated to open the gripper 5. (Step 3) The open gripper 5 is lowered by the Z-axis direction moving means 11 and stopped just before the lower end of the gripper 5 comes into contact with the component providing means 9. (Step 4) The gripper driving means 13 is operated, the grippers 5 are closed to clamp the component 8, and then the gripper driving means 13 is stopped. (Step 5) The gripper 5 is raised to a predetermined position by the Z-axis direction moving means 11. (Step 6) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the gripper 5 holding the component 8 to directly above the component mounting position on the board 7. (Step 7) The gripper 5 is lowered by the Z-axis direction moving means 11 and stopped just before the component 8 comes into contact with the board 7. (Step 8) Activate the gripper drive means 13 to gradually open the gripper 5, and at the same time activate the ejector drive means 14 to gradually lower the ejector 12. When the component 8 has descended to a position where it can be attached to the board 7, stop the ejector drive means 14. (Step 9) After the operation of the ejector 12 is completed, the Z-axis direction moving means 11 raises the gripper 5 to a predetermined position. Thereafter, by repeating the above-mentioned (Step 1) to (Step 9), the components 8 placed on the component providing means 9 can be mounted onto the board 7 in sequence.

[0017] Furthermore, the procedure for replacing the gripper 5 held by the gripper holding means 10 to match the type and size of the component 8 to be mounted on the board 7 is as follows. (Step A) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the gripper 5 to directly above the empty area of ​​the gripper storage means 6 (the left end in FIG. 1). (Step B) The gripper driving means 13 is activated to bring the gripper 5 into the most closed state. (Step C) The Z-axis direction moving means 11 lowers the closed gripper 5, places it in an empty area of ​​the gripper storage means 6, stops it, and detaches it from the gripper holding means 10. (Step D) The gripper holding means 10 is raised by the Z-axis direction moving means 11. (Step E) The odd-shaped component mounting device 2 is moved by the X-axis direction moving means 3, and the gripper holding means 10 is moved to directly above the gripper 5 to be used that is in the gripper storage means 6. (Step F) The gripper holding means 10 is lowered by the Z-axis direction moving means 11, and is stopped after being coupled with the gripper 5 to be used. (Step G) The gripper 5 is raised to a predetermined position by the Z-axis direction moving means 11.

[0018] FIG. 3 is a diagram illustrating the magnetic fixing means 23 of the ejector in the first embodiment, and is an enlarged view of the lower part of the ejector base 15 and the ejector tip portion 16 in FIG. As shown in FIG. 3, the magnetic fixing means 23 of the ejector in the first embodiment has the following components 1 to 4. (Component 1) A recess 24 provided in the lower part (tip surface) of the ejector base 15 that is held by the ejector holding means 17 and is slidable in the Z-axis direction. (Component 2) A cylindrical magnetically attached portion 25 extending downward from the center of the bottom surface of the recess 24. At least the magnetically attached portion 25 is made of a magnetic material, but the entire ejector base 15 or the entire lower portion may be made of a magnetic material. (Component 3) An annular permanent magnet 26 fixed to the periphery of the magnetically attached portion 25. (Element 4) A protrusion 27 provided on the upper side (rear end side) of the ejector tip portion 16. At least the upper portion of the protrusion 27 is made of a magnetic material, but the entire ejector tip portion 16 may be made of a magnetic material.

[0019] Figure 4 is a diagram illustrating the automatic tip part exchange means 30 in Example 1, where Figures 4(A) and (B) are a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal center line of the automatic tip part exchange means 30 when it holds the ejector tip part 16, respectively, and Figures 4(C) and (D) are a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal center line of the automatic tip part exchange means 30 when the ejector tip part 16 is detachable, respectively. As shown in FIGS. 1 and 4, the automatic tip part exchanging means 30 in the first embodiment has the following components 5 to 8. (Component 5) Tip portion receiving plate 31 that receives the ejector tip portion 16. Although Figure 4 only shows the vicinity of the ejector tip portion 16 housed on the far right, as shown in Figure 1, four types of ejector tip portions 16 can be housed (the ejector tip portion 16 housed on the far left in Figure 1 is in use). (Element 6) A recess provided on the upper surface of the tip portion receiving plate 31, which is a receiving portion 32 for receiving the lower portion of the ejector tip portion 16. (Element 7) A sliding plate 33 provided on the upper surface side of the tip portion accommodating plate 31 and capable of sliding in the longitudinal direction from the position shown in FIGS. 4(A) and 4(B) to the position shown in FIGS. 4(C) and 4(D). (Element 8) An opening provided in the sliding plate 33, which connects a large diameter portion 34 through which the lower part of the ejector tip portion 16 can pass and a small diameter portion 35 through which only the upper part can pass. In Figures 4(A) and (B), the convex portion 27 of the ejector tip portion 16 is located near the center of the small diameter portion 35, and the lower portion cannot pass through the small diameter portion 35, so the ejector tip portion 16 is held in the storage portion 32 and cannot escape upward. Conversely, in Figures 4(C) and (D), the convex portion 27 of the ejector tip portion 16 is located near the center of the large diameter portion 34, and the lower portion can also pass through the large diameter portion 34, so the ejector tip portion 16 is in a state where it can be attached to and detached from the storage portion 32.

[0020] The procedure for replacing the ejector tip portion 16 fixed to the ejector base portion 15 to match the type and size of the component 8 to be mounted on the substrate 7 is as follows. (Step A) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the ejector 12 to directly above the empty storage section 32 (the left end in FIG. 1) of the automatic tip section exchange means 30. (Step 1) The ejector driving means 14 is actuated to move the ejector 12 in the Z-axis direction, and the ejector tip portion 16 is brought into a state where it projects from the gripper 5. (Step C) Slide the sliding plate 33 of the automatic tip part exchange means 30 to the right in the longitudinal direction until the large diameter part 34 of the sliding plate 33 is positioned directly above the storage part 32, and then use the Z-axis movement means 11 to lower the protruding ejector 12 and place it in an empty storage part 32 of the automatic tip part exchange means 30 and stop it. (Step d) The sliding plate 33 of the automatic tip part exchange means 30 is slid leftward in the longitudinal direction until the center of the small diameter part 35 is positioned at the protrusion 27 of the ejector tip part 16, and then the Z-axis direction moving means 11 is used to raise the ejector base part 15. As a result, the ejector tip part 16 is in a state where it cannot be removed upward, so the protrusion 27 detaches from the magnetic part 25 of the ejector base part 15 and is held in the storage part 32. (Step E) The odd-shaped component mounting machine 2 is moved by the X-axis direction moving means 3, and the ejector base 15 is moved directly above the convex portion 27 of the ejector tip portion 16 to be used in the tip portion automatic exchange means 30. (Step F) Slide the sliding plate 33 of the automatic tip part exchange means 30 to the right in the longitudinal direction until the large diameter part 34 of the sliding plate 33 is positioned directly above the storage part 32, then use the Z-axis movement means 11 to lower the ejector base 15, insert the recess 24 into the protrusion 27 of the ejector tip part 16 to be used, and stop it after the upper surface of the protrusion 27 is coupled with the magnetic part 25. (Step g) The ejector 12 is raised to a predetermined position by the Z-axis direction moving means 11. (Step H) The ejector driving means 14 is actuated to move the ejector 12 in the Z-axis direction, and the ejector 12 is raised (to the state shown in FIG. 2). (Step I) The sliding plate 33 of the automatic tip part exchange means 30 is slid leftward in the longitudinal direction, so that another ejector tip part 16 is held in the accommodating part 32 . [Example]

[0021] FIG. 5 is a diagram illustrating a jaw fixing means in the second embodiment. The odd-shaped component mounting machine 2 of Example 1 holds various types of grippers 5 detachably attached to the gripper holding means 10, but the odd-shaped component mounting machine 2' of Example 2 differs in that the gripper 5 is divided into a gripper base 41 and a gripper jaw 42, the gripper base 41 is operated by the gripper driving means 13, and the gripper jaw 42 can be attached to the tip of the gripper base 41. Therefore, for the odd-shaped component mounting machine 2' of Example 2, only the configuration and procedures related to the replacement of the gripper and gripper jaw portion 42 will be described, and descriptions of other configurations will be omitted, and the same numbers as in Example 1 will be used for common configurations.

[0022] As shown in Figure 5, the odd-shaped component mounting machine 2' of Example 2 is configured so that the gripper 5 of the odd-shaped component mounting machine 2 of Example 1 shown in Figure 2 is composed of a gripper base 41 and a gripper jaw 42, and the gripper base 41 is fixed to the gripper holding means 10, and the gripper jaw 42 is removably held at the tip of the gripper base 41. The jaw fixing means 43, which detachably holds the gripper jaw 42 at the tip of the gripper base 41, utilizes magnetic force in the same manner as the magnetic fixing means 23 of Example 1, and consists of an insertion portion 44 having a recess at the bottom of the gripper base 41, a ring-shaped permanent magnet 45 installed at the upper end of the insertion portion 44, and a protrusion 46 protruding above the gripper jaw 42. At least the fitting portion 44, the upper portion of the fitting portion 44, and the protruding portion 46 are made of a magnetic material, but the entire gripper base portion 41 or the gripper jaw portion 42 may be made of a magnetic material. The component mounting device (not shown) to which the odd-shaped component mounting machine 2' of Example 2 is applied is equipped with an automatic jaw portion replacement means 47 instead of the gripper storage means 6 in the component mounting device 1 of Example 1 shown in Figure 1.

[0023] 6A and 6B are diagrams illustrating the automatic jaw part exchanging means 47 in Example 2, and FIGS. 6A and 6B are a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal center line of the automatic jaw part exchanging means 47 in a state in which the gripper jaw part 42 is held, respectively. FIGS. 6C and 6D are a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal center line of the automatic jaw part exchanging means 47 in a state in which the gripper jaw part 42 is detachable, respectively. As shown in FIG. 6, the automatic jaw part changing means 47 in the second embodiment has the following components 9 to 11. (Component 9) A jaw portion receiving plate 48 that receives the gripper jaw portion 42. (Element 10) Two recesses provided on the upper surface of the jaw portion accommodating plate 48: a first accommodating portion 49 that accommodates the lower part of the left gripper jaw portion 42, and a second accommodating portion 50 that accommodates the lower part of the right gripper jaw portion 42. (Element 11) A first sliding plate 51 and a second sliding plate 52 are provided on the upper surface side of the jaw portion accommodating plate 48 and are slidable in the longitudinal direction from the positions shown in Figures 6(A) and (B) to the positions shown in Figures 6(C) and (D). (Element 12) A first opening provided on the first sliding plate 51, the first opening having a shape connecting a first rectangular portion 53 through which the lower part of the left gripper jaw portion 42 can pass and a first small diameter portion 54 through which only the protrusion 46 can pass, and a second opening provided on the second sliding plate 52, the second opening having a shape connecting a second rectangular portion 55 through which the lower part of the right gripper jaw portion 42 can pass and a second small diameter portion 56 through which only the protrusion 46 can pass. 6(A) and (B), the protruding portions 46 of the gripper jaw portions 42 are located near the centers of the first small diameter portion 54 and the second small diameter portion 56, and the lower portions cannot pass through the first small diameter portion 54 and the second small diameter portion 56, so the left and right gripper jaw portions 42 are held in the first storage portion 49 and the second storage portion 50, respectively, and cannot escape upward. Conversely, in Figures 6(C) and (D), the protrusion 46 of the gripper jaw portion 42 is located near the center of the first rectangular portion 53 and the second rectangular portion 55, and the lower portion can also pass through the first rectangular portion 53 and the second rectangular portion 55, so the left and right gripper jaw portions 42 are in a state where they can be attached and detached to the first storage portion 49 and the second storage portion 50, respectively. Although Figure 6 shows only one set of the first storage section 49 and the second storage section 50, the first sliding plate 51 and the second sliding plate 52, and the first opening and the second opening, multiple sets are arranged side by side in the Y-axis direction in order to hold multiple types of gripper jaw sections 42.

[0024] The procedure for replacing the gripper jaw parts 42 fixed to the gripper base part 41 to match the type and size of the component 8 to be mounted on the board 7 is as follows. (Step a) Activate the X-axis direction moving means 3 and the Y-axis direction moving means 4 to move the left and right gripper jaw parts 42 directly above the empty first storage part 49 and second storage part 50 of the automatic jaw part exchange means 47, respectively. (Step b) The gripper driving means 13 is operated to bring the left and right gripper bases 41 and gripper jaws 42 into the most closed state. (Step c) The first sliding plate 51 of the automatic jaw part exchange means 47 is slid to the left in the longitudinal direction, and the second sliding plate 52 is slid to the right in the longitudinal direction until the first rectangular portion 53 and the second rectangular portion 55 are positioned directly above the first storage section 49 and the second storage section 50, respectively. Then, the left and right gripper jaw parts 42 are lowered by the Z-axis movement means 11 and placed in the vacant first storage section 49 and second storage section 50 of the automatic jaw part exchange means 47, where they are stopped. (Step d) The first sliding plate 51 of the automatic jaw part changing means 47 is slid to the right in the longitudinal direction, and the second sliding plate 52 is slid to the left in the longitudinal direction until the centers of the first small diameter portion 54 and the second small diameter portion 56 are positioned at the protruding portions 46 of the gripper jaw parts 42, and then the gripper base part 41 is raised by the Z-axis direction moving means 11. Then, because the left and right gripper jaw parts 42 are in a state where they cannot come out upward, the protruding portions 46 are released from the fitting portions 44 of the gripper base part 41 and are held in the first storage part 49 and the second storage part 50, respectively. (Step e) The odd-shaped component mounting machine 2' is moved by the Y-axis movement means 4, and the left and right gripper bases 41 are moved directly above the protrusions 46 of the left and right gripper jaws 42 to be used, which are located within the automatic jaw exchange means 47. (Step f) The first sliding plate 51 of the automatic jaw part exchange means 47 is slid to the left in the longitudinal direction, and the second sliding plate 52 is slid to the right in the longitudinal direction until the first rectangular part 53 and the second rectangular part 55 are positioned directly above the first storage part 49 and the second storage part 50, respectively. Then, the left and right gripper bases 41 are lowered by the Z-axis movement means 11, and the protrusions 46 of the left and right gripper jaw parts 42 to be used are inserted into the fitting parts 44 of the left and right gripper bases 41, respectively, and then stopped. (Step g) The left and right gripper bases 41 and gripper jaws 42 are raised to predetermined positions by the Z-axis direction moving means 11. (Step h) The first sliding plate 51 of the automatic jaw part exchange means 47 is slid to the right in the longitudinal direction, and the second sliding plate 52 is slid to the left in the longitudinal direction, so that the other gripper jaw part 42 is held in the first storage part 49 and the second storage part 50.

[0025] Modifications of the first and second embodiments are listed below. (Variant 1) The ejector drive means 14 in Examples 1 and 2 was composed of air supply means 18 that sent air to the top of the ejector holding means 17, exhaust means 19 that exhausted air from the bottom of the ejector holding means 17, and spring 20 that pushed the ejector base 15 upward, but if the exhaust means 19 could be made to supply air pressure to push the ejector base 15 upward as needed, the spring 20 need not be provided. Moreover, instead of the ejector drive means constituted by the gas supply means 18 and the exhaust means 19, a fluid drive means for supplying or discharging various gases or liquids may be used. (Variant 2) The ejector drive means 14 in Examples 1 and 2 is composed of an air supply means 18, an exhaust means 19, and a spring 20, and although it has been explained in Variant 1 that it may also be a fluid drive means, any means may be used instead of the fluid drive means, such as a linear motor or means for converting rotational motion into linear motion (for example, a rack and pinion), as long as it can move the ejector in the Z-axis direction.

[0026] (Variant 3) In Examples 1 and 2, the recess 24 provided on the tip surface of the ejector base 15 and the protrusion 27 provided on the rear end side of the ejector tip portion 16 were both cylindrical, but any shape is acceptable as long as the protrusion 27 can be inserted into the recess 24. In order to make it easier to insert the protrusion 27 into the recess 24, it is better to widen the tip end side of the recess 24 and narrow the rear end side of the protrusion 27. (Variant 4) In Examples 1 and 2, magnetic fixing means 23 was used to detachably fix the ejector tip portion 16, and jaw portion fixing means 43 was used to detachably fix the gripper jaw portion 42, but clamp fixing means may also be used. The clamp fixing means 60 shown in FIG. 7 is an example of a means that replaces the magnetic fixing means 23, and has a clamp recess 62 with a spring clamp portion 61 formed in the lower part of the ejector base 15, a tapered portion 63 provided at the upper end of the protrusion 27 of the ejector tip portion 16, and a clamp groove 64 provided on the side of the upper part of the protrusion 27, into which the spring clamp portion 61 can be fitted. When the protrusion 27 is inserted into the clamp recess 62, the tapered portion 63 hits the lower portion of the spring clamp portion 61, causing the spring clamp portion 61 to move to the left. When the protrusion 27 moves further upward, the spring clamp portion 61 climbs over the tapered portion 63 and fits into the clamp groove 64, and the ejector tip portion 16 is fixed to the ejector base 15. Conversely, when the ejector base 15 moves upward with the ejector tip 16 fixed, the spring clamp portion 61 climbs over the tapered portion 63 and comes out of the clamp groove 64, so that the fixed state between the ejector tip 16 and the ejector base 15 is released.

[0027] (Variant 5) In Example 1, the gripper 5 held by the gripper holding means 10 can be replaced by operating the X-axis direction moving means 3, the Y-axis direction moving means 4, the Z-axis direction moving means 11, and the gripper driving means 13, and the ejector tip portion 16 can be replaced with respect to the ejector base 15 by operating the X-axis direction moving means 3, the Y-axis direction moving means 4, the Z-axis direction moving means 11, and the ejector driving means 14 and using the automatic tip portion replacing means 30, but the replacement of the gripper 5 and the ejector tip portion 16 may also be performed by an operator or a manager. (Variant 6) In Example 2, the gripper jaw 42 can be replaced with respect to the gripper base 41 by operating the X-axis direction moving means 3, the Y-axis direction moving means 4, the Z-axis direction moving means 11, and the gripper driving means 13 and using the automatic jaw part replacement means, and the ejector tip 16 can be replaced with respect to the ejector base 15 by operating the X-axis direction moving means 3, the Y-axis direction moving means 4, the Z-axis direction moving means 11, and the ejector driving means 14 and using the automatic tip part replacement means 30, but the replacement of the gripper jaw 42 and the ejector tip 16 may also be performed by an operator or a manager. [Explanation of symbols]

[0028] 1 Component mounting device 2 Odd-shaped component mounting device according to embodiment 1 2' Odd-shaped component mounting machine according to embodiment 2 3 X-axis direction moving means 4 Y-axis direction moving means 5 Gripper 6 Gripper storage means 7 substrate 8 component 9 component providing means 10 gripper holding means 11 Z-axis direction moving means 12 Ejector 13 Gripper driving means 14 Ejector drive means 15 Ejector base 16 Ejector tip portion 17 Ejector holding means 18 Air supply means 19 Exhaust means 20 Spring 21 Air flow rate measuring means 22 Exhaust volume measuring means 23 Magnetic fixing means 24 concave portion 25 magnetically attracted portion 26 annular permanent magnet 27 convex portion 30 Automatic tip part exchange means 31 Tip part storage plate 32 Storage part 33 sliding plate 34 large diameter portion 35 small diameter portion 41 Gripper base 42 Gripper jaw 43 Jaw portion fixing means 44 Insertion portion 45 Ring-shaped permanent magnet 46 Protrusion 47 Automatic jaw part exchange means 48 Jaw part receiving plate 49 First receiving portion 50 Second receiving portion 51 First sliding plate 52 Second sliding plate 53 First rectangular portion 54 First small diameter portion 55 2nd rectangular part 56 2nd small diameter part 60 clamp fixing means 61 spring clamp portion 62 Clamp recess 63 Tapered portion 64 Clamp groove

Claims

1. An odd-shaped component mounting machine comprising a gripper for holding a component, an ejector for pushing out the component held by the gripper, gripper drive means for opening and closing the gripper, and ejector drive means for operating the ejector, the ejector has an ejector base portion operated by the ejector driving means and an ejector tip portion detachably attached to a tip of the ejector base portion, the ejector base has a recess on its tip end surface, a protrusion that fits into the recess is provided on the rear end side of the ejector tip portion, The ejector tip portion has a magnetic fixing means or a clamp fixing means that detachably fixes the ejector tip portion to the ejector base portion by fitting the recessed portion into the protruding portion. An odd-shaped component mounting machine characterized by the above.

2. The gripper has a gripper base that is operated by the gripper driving means, and a gripper jaw that is detachable from the tip of the gripper base.

2. The odd-shaped component mounting machine according to claim 1.

3. The ejector base is provided with an automatic tip part exchange means for automatically attaching and detaching the ejector tip part to the tip of the ejector base, and an automatic jaw part exchange means for automatically attaching and detaching the gripper jaw part to the tip of the gripper base.

3. The odd-shaped component mounting machine according to claim 2.

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