Odd-shaped parts mounting machine

Abstract

To replace a gripper or the like capable of coping with various components without largely moving a head part in a vertical direction, and to surely recognize positions and kinds of various components and the gripper or the like by one camera which does not move in the vertical direction.SOLUTION: In a component mounting device 1 including an X, Y, and Z-axis direction moving means, an odd-shaped component mounting machine 2, a head part 10, a nozzle 5, and a nozzle replacement automatic changer 6, a height changing means 19 having a placing table 20 on which the nozzle replacement automatic changer 6 is placed, an elevating device 21 for elevating the placing table 20, and a guide rod 22 for limiting the elevation of the placing table 20 between a lower limit position and an upper limit position is used. The height of the placement table 20 is set to the lower limit position shown in FIG. 4 a when the component is mounted on the substrate, is set to the intermediate position shown in FIG. 4 b when the position and the type of the nozzle 5 are recognized by the camera before the nozzle 5 is replaced, and is set to the upper limit position shown in FIG. 4 c when the nozzle 5 is replaced with respect to the head part 10.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] This invention relates to an odd-shaped component mounting machine that includes a gripper for gripping a component or a nozzle for suctioning the component, and a gripper drive means for opening and closing the gripper or a nozzle drive means for actuating the nozzle, as well as an odd-shaped component mounting machine that includes, in addition to the gripper and gripper drive means, an ejector for pushing out the component gripped by the gripper, and an ejector drive means for operating 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) includes 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 (57) 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, 0028, 0058, and FIG. 3).

[0003] In addition, Patent Document 2 (JP Patent Publication No. 10-135697) describes an electronic component mounting device that includes a mechanical chuck (21) that grips and holds an electronic component (22) or a nozzle (23) that sucks and holds the electronic component (22). When the nozzle (23) is replaced with the mechanical chuck (21), the nozzle change section (7) opens the jaws (12) and rises (FIG. 3(a)). The nozzle / mechanical chuck storage section (13) is configured to accommodate the nozzle section (4). The patent discloses that the head (5) stores the nozzle (23) currently held by the mechanical chuck (21) (Fig. 3(b)), then the nozzle part (4) rises (Fig. 3(c)), the head part (5) is positioned on the next mechanical chuck (21) to be used, the nozzle part (4) descends and the mechanical chuck (21) is attached (Fig. 3(d)), the jaws (12) open, the nozzle part (4) ascends, and the nozzle change part (7) descends to complete the nozzle change (Fig. 3(e)) (see, in particular, paragraphs 0016-0017 and Figs. 3 and 4). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5903159 (International Publication No. 2013 / 140571) [Patent Document 2] Japanese Patent Application Publication No. 10-135697 (Patent No. 4233125) 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 discloses that in an electronic component insertion device, the nozzle change section (7) rises and stores the nozzle (23) in the nozzle / mechanical chuck storage section (13) (FIGS. 3(a) and (b)), then the nozzle section (4) rises to position the head section (5), the nozzle section (4) falls to attach the mechanical chuck (21) (FIGS. 3(c) and (d)), and then the nozzle change section (7) falls to complete nozzle replacement (FIG. 3(e)). However, there is no explanation about a configuration for recognizing the position of the mechanical chuck (21) or a configuration for replacing the ejector, and the nozzle change section (7) changes its height in two stages, a raised position and a lowered position. In order to accommodate tall components, odd-shaped component mounting machines require the head, to which the gripper, nozzle, or ejector is attached, to be moved significantly in the Z direction (up and down) when replacing the gripper, etc., which increases the size and mass of the head drive means, etc. This makes it difficult to control the movement of the head drive means, etc., leading to a decrease in the accuracy of the stopping position. Furthermore, the camera used to recognize the types of components mounted on the substrate and the grippers, nozzles, or ejectors fixed to the head moves in the X and Y directions but not in the Z direction. Therefore, to reliably recognize the positions and types of components, grippers, etc., it is necessary to provide a camera with autofocus adjustment or two or more cameras, which increases the cost of the device. The present invention aims to solve all of these problems at once by making it possible to change to multiple types of grippers, etc. to accommodate a variety of parts without having to move the head unit significantly up and down, and by making it possible to reliably recognize the positions and types of various parts and grippers, etc. using a single camera that does not move up and down. [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 gripping a component or a nozzle for suctioning a component, and a gripper driving means for opening and closing the gripper or a nozzle operating means for operating the nozzle, The gripper or the nozzle is replaceable in accordance with a part to be gripped or sucked, an autochanger for automatically exchanging the gripper or the nozzle with another gripper or another nozzle; a height changing means for changing the height of the autochanger, The height changing means is characterized in that it can change the height of the autochanger to at least three levels: a low position which is set when the gripper or the nozzle is moved back and forth and left and right to grip or suck up a part; a middle position which is set when recognizing the position or type of other grippers or other nozzles placed in the autochanger; and a high position which is set when replacing the gripper or the nozzle.

[0007] The invention according to claim 2 for solving the above problem is the odd-shaped component placement machine according to claim 1, The odd-shaped component mounting machine further includes an ejector that pushes out the component gripped by the gripper, and an ejector drive means that drives the ejector, the ejector is replaceable in accordance with a part gripped by the gripper, The autochanger is characterized in that another ejector is arranged in order to automatically exchange the ejector with another ejector. [Effects of the Invention]

[0008] The odd-shaped component placement machine of the invention according to claim 1 comprises an autochanger for automatically exchanging a gripper or a nozzle with another gripper or another nozzle, and height changing means for changing the height of the autochanger, The height changing means can change the height of the autochanger to at least three positions: a low position which is set when the gripper or nozzle is moved back and forth and left and right to grip or suck up a part; a middle position which is set when recognizing the position and type of other grippers or other nozzles placed in the autochanger; and a high position which is set when replacing the gripper or nozzle.This means that grippers or nozzles that can be used with various parts can be replaced without having to move the head unit, to which grippers or nozzles that can be used with various parts, significantly up and down, and the positions and types of various parts and grippers or nozzles can be reliably recognized using a single camera that does not move up and down.

[0009] The odd-shaped component mounting machine of the invention according to claim 2, in addition to the above-mentioned effects of the invention according to claim 1, further comprises an ejector that pushes out the component gripped by the gripper, and an ejector drive means that drives the ejector, The ejector can be replaced to correspond to the part being gripped by the gripper, and since other ejectors are arranged in the autochanger, the ejector can be replaced without moving the head unit significantly in the vertical direction, and the position and type of the ejector can be reliably recognized by a single camera that does not move in the vertical direction. [Brief explanation of the drawings]

[0010] [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] 4A and 4B are diagrams illustrating nozzle replacement in the odd-shaped component mounting machine of the first embodiment. [Figure 3] 4A to 4C are diagrams illustrating the operation of the automatic nozzle changer according to the first embodiment. [Figure 4] FIG. 3 is a diagram illustrating a height changing means of the automatic nozzle changer according to the first embodiment. [Figure 5] FIG. 10 is a diagram showing the configuration of an odd-shaped component mounting machine according to a second embodiment. [Figure 6] 10A and 10B are diagrams illustrating a jaw fixing means and an ejector holding means in the second embodiment. [Figure 7] 10A to 10C are diagrams illustrating the operation of the automatic changer for gripper replacement in the second embodiment. [Figure 8] 10A and 10B are diagrams illustrating a magnetic fixing means of an ejector in the second embodiment. [Figure 9] 10A to 10C are diagrams illustrating the operation of the autochanger for ejector replacement in the second embodiment. [Figure 10] 10A and 10B are diagrams illustrating a clamp fixing means for an ejector according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to Examples 1 and 2. [Example]

[0012] FIG. 1 is a diagram showing the overall configuration of a component mounting device 1 to which an odd-shaped component mounting machine 2 according to the first embodiment is applied, FIG. 2 is a diagram showing the nozzle replacement process in the odd-shaped component mounting machine 2, and FIG. 3 is a diagram explaining the operation of an autochanger 6 for nozzle replacement according to the first embodiment. 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 nozzle exchange autochanger 6 for stocking various nozzles 5 fixed to the odd-shaped component mounting machine 2, and a component supply means 9 for supplying components 8 to be mounted on a board 7. The odd-shaped component mounting machine 2 also includes a head unit 10 to which various nozzles 5 are detachably fixed, and the head unit 10 includes a shaft 11 that extends and retracts in the Z-axis direction.

[0013] 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 nozzle 5 directly above the component 8 placed on the component providing means 9. (Step 2) Extend the shaft 11 to lower the nozzle 5 so that the tip of the nozzle 5 comes into contact with the top surface of the component 8. (Step 3) The suction means (not shown) is activated to suck the component 8 onto the tip of the nozzle 5. (Step 4) Retract the shaft 11 to raise the nozzle 5 to a predetermined position. (Step 5) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the nozzle 5 holding the component 8 to a position directly above the component mounting position on the board 7. (Step 6) Extend the shaft 11 to lower the nozzle 5 and bring the component 8 into contact with the substrate 7. (Step 7) After stopping the suction means, the shaft 11 is retracted to raise the nozzle 5 to a predetermined position. Thereafter, by repeating the above-mentioned (Step 1) to (Step 7), the components 8 placed on the component providing means 9 can be mounted onto the board 7 in sequence.

[0014] Next, we will explain the configuration and procedures for replacing the nozzle 5 fixed to the head unit 10 in the odd-shaped component mounting machine 2 of Example 1 using the nozzle replacement autochanger 6 to match the type and size of the component 8 to be mounted on the board 7. First, the nozzle exchange autochanger 6 has the following components 1 to 4, as shown in FIGS. (Component 1) Nozzle accommodating plate 12 for accommodating nozzle 5. Although FIG. 2 shows only the nozzle 5 housed on the far right side and its vicinity, as shown in FIG. 1, a plurality of nozzles 5 can be housed. (Element 2) A nozzle accommodating portion 13, which is a recess provided on the upper surface of the nozzle accommodating plate 12 and which accommodates the lower portion of the nozzle 5. The nozzle housing portion at the left end of FIG. 1 is empty to house the nozzle 5 in use. (Element 3) A nozzle sliding plate 14 that is provided on the upper surface side of the nozzle accommodating plate 12 and is slidable in the longitudinal direction from the position shown in FIGS. 3(A) and 3(B) to the position shown in FIGS. 3(C) and 3(D). (Element 4) A nozzle opening provided on the nozzle sliding plate 14, which connects a large diameter portion 15 through which the lower portion 18 of the nozzle 5 can pass and a small diameter portion 16 through which only the upper portion can pass. 3(A) and (B), the upper part 17 of the nozzle 5 is located near the center of the small diameter part 16, and the lower part 18 of the nozzle 5 cannot pass through the small diameter part 16, so the nozzle 5 is held in the nozzle accommodating part 13 and cannot slip out upward. Conversely, in Figures 3(C) and (D), the upper part 17 of the nozzle 5 is located near the center of the large diameter portion 15, and the lower part 18 can also pass through the large diameter portion 15, so the nozzle 5 is in a state where it can be attached to and detached from the nozzle accommodating portion 13.

[0015] Fig. 4 is a diagram illustrating the height changing means 19 of the nozzle-replacing autochanger 6 according to Example 1. As shown in Fig. 4, the height changing means 19 includes a mounting table 20 on which the nozzle-replacing autochanger 6 is placed, an elevating device 21 that raises and lowers the mounting table 20, and a guide rod 22 that limits the elevation of the mounting table 20 between a lower limit position and an upper limit position. When the odd-shaped component mounting machine 2 is used to mount the component 8 on the board 7, the height of the mounting table 20 is set to the lower limit position shown in Figure 4(A) so that the nozzle 5 fixed to the head unit 10 does not collide with other nozzles 5 housed in the nozzle replacement autochanger 6. When the position and type of the nozzle 5 is confirmed by a camera (not shown) before replacing the nozzle 5, the height of the mounting table 20 is set to the intermediate position shown in Figure 4(B). When the nozzle 5 is replaced with respect to the head unit 10, the height of the mounting table 20 is set to the upper limit position shown in Figure 4(C) so that the extension range (stroke) of the shaft 11 is reduced. The lifting device 21 uses air pressure to move the lifting rod up and down, and when changing the height from the lower limit position to the intermediate position, air is injected, and when changing the height from the intermediate position to the upper limit position, more air is injected. Conversely, when changing the height from the upper limit position to the intermediate position, air is discharged, and when changing the height from the intermediate position to the lower limit position, more air is discharged.

[0016] The procedure for replacing the nozzle 5 with the head unit 10 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 nozzle 5 to a position directly above the empty area of ​​the nozzle exchange autochanger 6 (the left end in FIG. 1). (Step B) Slide the nozzle sliding plate 14 of the nozzle replacement autochanger 6 to the right in the longitudinal direction until the large diameter portion 15 of the nozzle sliding plate 14 is positioned directly above the nozzle accommodating portion 13 (the state shown in Figure 2(D)). Then, extend the shaft 11 to lower the nozzle 5, and place it in an empty space in the nozzle replacement autochanger 6 and stop it. (Step C) Slide the nozzle sliding plate 14 of the nozzle exchange autochanger 6 to the left in the longitudinal direction until the center of the small diameter portion 16 is positioned at the top 17 of the nozzle 5, and then retract the shaft 11 to raise the nozzle 5. Then, since the nozzle 5 is unable to come out upward, the shaft 11 is released from the top 17 of the nozzle 5 and is housed in the nozzle housing portion 13. (Step D) The odd-shaped component mounting machine 2 is moved by the X-axis direction moving means 3, and the head unit 10 is moved directly above the nozzle 5 to be used in the nozzle accommodating unit 13 (the state shown in FIG. 2(A)). (Step E) Extend the shaft 11 and connect the tip to the upper part 17 of the nozzle 5 to be used, then stop (the state shown in FIG. 2(B)). The tip of the shaft 11 and the upper part 17 of the nozzle 5 can be connected using any suitable detachable connecting means, such as a magnetic or clamp type. (Step F) Slide the nozzle sliding plate 14 to the right in the longitudinal direction until the large diameter portion 15 of the nozzle sliding plate 14 is positioned directly above the nozzle accommodating portion 13 (the state shown in FIG. 2(C)). (Step G) The shaft 11 is retracted to raise the nozzle 5 to a predetermined position (the state shown in FIG. 2(D)). (Step H) The nozzle sliding plate 14 of the nozzle exchange autochanger 6 is slid leftward in the longitudinal direction, so that another nozzle 5 is held in the nozzle accommodating portion 13 . [Example]

[0017] FIG. 5 is a diagram showing the configuration of odd-shaped component mounting machine 23 according to the second embodiment, and FIG. 6 is a diagram illustrating jaw fixing means 31 and ejector holding means 47 in the second embodiment. The odd-shaped component mounting machine 2 of Example 1 holds various nozzles 5 detachably on the head unit 10, but the odd-shaped component mounting machine 23 of Example 2 holds grippers 24 and ejectors 25 detachably instead of the nozzles 5. In addition, the odd-shaped component mounting machine 23 of Example 2 is equipped with a Z-axis movement means 26 that moves the gripper 24 in the Z-axis direction, a gripper drive means 27 that opens and closes the gripper 24, and an ejector drive means 28 that moves the ejector 25 in the Z-axis direction. Therefore, in regard to Example 2, the explanation will focus on the odd-shaped component mounting machine 23 (particularly the configuration of the gripper 24 and ejector 25) and the configuration and procedures related to their replacement, and the same numbers as in Example 1 will be used for configurations that are common to Example 1. The gripper 24 holds and releases the component 8 by opening and closing the gripper drive means 27, and moves and places the held component 8 to the component mounting position on the board 7 by the X-axis direction moving means 3, the Y-axis direction moving means 4, and the Z-axis direction moving means 26. The ejector 25 pushes out the component 8 held by the gripper 24 when placing it at the component mounting position and mounts it on the board 7. In the following, the gripper 24 and the gripper driving means 27 will be first described, and the configuration of the ejector 25 and the ejector driving means 28 will be described later.

[0018] As shown in FIG. 6, the gripper 24 is composed of a gripper base 29 and a gripper jaw 30. The gripper base 29 is opened and closed by a gripper driving means 27, and the gripper jaw 30 can be attached to the tip of the gripper base 29. The jaw fixing means 31, which detachably holds the gripper jaw 30 at the tip of the gripper base 29, holds the gripper jaw 30 by magnetic force, and is composed of an insertion portion 32 having a recess at the bottom of the gripper base 29, a ring-shaped permanent magnet 33 installed at the upper end of the insertion portion 32, and a protrusion 34 protruding above the gripper jaw 30. At least the fitting portion 32, the upper portion of the fitting portion 32, and the protruding portion 34 are made of a magnetic material, but the entire gripper base 29 or the gripper jaw portion 30 may be made of a magnetic material. Furthermore, the component mounting apparatus (not shown) to which the odd-shaped component mounting machine 23 of Example 2 is applied is equipped with a gripper replacement autochanger 35 and an ejector replacement autochanger 60 instead of the nozzle replacement autochanger 6 in the component mounting apparatus 1 of Example 1 shown in FIG. 1, and is similar to the lifting device 21 of Example 1 in that the height of the mounting table 20 is at its lowest position when the odd-shaped component mounting machine 23 is used to mount the component 8 on the board 7, at its intermediate position when the position and type of the gripper 24 and the ejector 25 are confirmed by a camera before the gripper 24 and the ejector 25 are replaced, and at its highest position when the gripper jaw portion 30 and the ejector tip portion 46 are replaced with respect to the gripper base 29 and the ejector base 45, respectively.

[0019] 7A and 7B are diagrams illustrating the operation of the gripper replacement autochanger 35 in Example 2, with FIGS. 7A and 7B being a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal center line of the gripper replacement autochanger 35 when the gripper jaw unit 30 is held, respectively, and FIGS. 7C and 7D being a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal center line of the gripper replacement autochanger 35 when the gripper jaw unit 30 is ready to be attached or detached, respectively. As shown in FIG. 7, the gripper-replacing autochanger 35 in the second embodiment has the following components 2-1 to 2-4. (Component 2-1) A jaw portion accommodating plate 36 that accommodates the gripper jaw portion 30. (Component 2-2) Two recesses provided on the upper surface of the jaw portion accommodating plate 36: a first accommodating portion 37 that accommodates the lower part of the left gripper jaw portion 30, and a second accommodating portion 38 that accommodates the lower part of the right gripper jaw portion 30. (Component 2-3) A first sliding plate 39 and a second sliding plate 40 are provided on the upper surface side of the jaw portion accommodating plate 36 and are slidable in the longitudinal direction from the positions shown in Figures 7(A) and (B) to the positions shown in Figures 7(C) and (D). (Component 2-4) A first opening provided on the first sliding plate 39, which connects a first rectangular portion 41 through which the lower part of the left gripper jaw portion 30 can pass and a first small diameter portion 42 through which only the protrusion 34 can pass, and a second opening provided on the second sliding plate 40, which connects a second rectangular portion 43 through which the lower part of the right gripper jaw portion 30 can pass and a second small diameter portion 44 through which only the protrusion 34 can pass. 7(A) and (B), the protruding portion 34 of the gripper jaw portion 30 is located near the center of the first small diameter portion 42 and the second small diameter portion 44, and the lower portion cannot pass through the first small diameter portion 42 and the second small diameter portion 44, so the left and right gripper jaw portions 30 are held in the first storage portion 37 and the second storage portion 38, respectively, and cannot slip out upward. Conversely, in Figures 7(C) and (D), the protrusion 34 of the gripper jaw portion 30 is located near the center of the first rectangular portion 41 and the second rectangular portion 43, and the lower portion can also pass through the first rectangular portion 41 and the second rectangular portion 43, so the left and right gripper jaw portions 30 are in a state where they can be attached and detached to the first storage portion 37 and the second storage portion 38, respectively. Although Figure 7 shows only one set of the first storage section 37 and the second storage section 38, the first sliding plate 39 and the second sliding plate 40, 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 30.

[0020] The procedure for replacing the gripper jaws 30 fixed to the gripper base 29 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 sections 30 directly above the empty first storage section 37 and second storage section 38 of the gripper replacement autochanger 35, respectively. (Step b) The gripper driving means 27 is operated to bring the left and right gripper bases 29 and the gripper jaws 30 into the most closed state. (Step c) The first sliding plate 39 of the gripper replacement autochanger 35 is slid longitudinally to the left, and the second sliding plate 40 is slid longitudinally to the right, until the first rectangular portion 41 and the second rectangular portion 43 are positioned directly above the first storage section 37 and the second storage section 38, respectively.Then, the left and right gripper jaw sections 30 are lowered by the Z-axis movement means 26 and placed in the empty first storage section 37 and second storage section 38 of the gripper replacement autochanger 35, and stopped. (Step d) The first sliding plate 39 of the gripper replacement autochanger 35 is slid to the right in the longitudinal direction, and the second sliding plate 40 is slid to the left in the longitudinal direction until the centers of the first small diameter portion 42 and the second small diameter portion 44 are positioned at the protruding portions 34 of the gripper jaws 30, and then the gripper base 29 is raised by the Z-axis movement means 26. Then, because the left and right gripper jaws 30 are unable to come out upward, the protruding portions 34 are released from the fitting portions 32 of the gripper base 29 and are accommodated in the first accommodation portion 37 and the second accommodation portion 38, respectively. (Step e) The odd-shaped component mounting machine 23 is moved by the Y-axis movement means 4, and the left and right gripper bases 29 are moved directly above the protrusions 34 of the left and right gripper jaws 30 to be used, respectively, within the gripper replacement autochanger 35. (Step f) The first sliding plate 39 of the gripper replacement autochanger 35 is slid longitudinally to the left, and the second sliding plate 40 is slid longitudinally to the right, so that the first rectangular portion 41 and the second rectangular portion 43 are positioned directly above the first storage portion 37 and the second storage portion 38, respectively.Then, the left and right gripper bases 29 are lowered by the Z-axis movement means 26, and the protrusions 34 of the left and right gripper jaw portions 30 to be used are inserted into the insertion portions 32 of the left and right gripper bases 29, respectively, and then stopped. (Step g) The left and right gripper bases 29 and gripper jaws 30 are raised to predetermined positions by the Z-axis direction moving means 26. (Step h) The first sliding plate 39 of the gripper replacement autochanger 35 is slid to the right in the longitudinal direction, and the second sliding plate 40 is slid to the left in the longitudinal direction, so that the other gripper jaw portion 30 is held in the first storage portion 37 and the second storage portion 38.

[0021] Next, the configuration of the ejector 25 and the ejector driving means 28 will be described. The ejector 25 shown in FIG. 5 is composed of an ejector base 45 and an ejector tip 46 that is detachable from the lower part of the ejector base 45 and is selected depending on the type of gripper 24 and the type of component 8. The ejector drive means 28 is also composed of an ejector holding means 47 that holds the ejector base 45 slidably in the Z-axis direction, an air supply means 48 that sends air to the upper part of the ejector holding means 47, an exhaust means 49 that exhausts air from the lower part of the ejector holding means 47, and a spring 50 that pushes the ejector base 45 upward. The air supply amount measuring means 51 and the exhaust amount measuring means 52 are means for controlling the movement of the ejector 25, but are not directly related to the present invention, so a description thereof will be omitted.

[0022] Fig. 8 is a diagram illustrating the magnetic fixing means 53 of the ejector 25 in the second embodiment, and is an enlarged view of the lower part of the ejector base 45 and the ejector tip portion 46 in Fig. 6. As shown in Fig. 8, the magnetic fixing means 53 of the ejector 25 in the second embodiment has the following components 2-5 to 2-8. (Component 2-5) A recess 54 provided in the lower part (tip surface) of the ejector base 45 that is held by the ejector holding means 47 and is slidable in the Z-axis direction. (Component 2-6) A cylindrical magnetically attached portion 55 extending downward from the center of the bottom surface of the recess 54. At least the magnetically attached portion 55 is made of a magnetic material, but the entire ejector base 45 or the entire lower portion may be made of a magnetic material. (Component 2-7) An annular permanent magnet 56 fixed around the magnetically attached portion 55. (Component 2-8) A protrusion 57 provided on the upper side of the ejector tip portion 46. At least the upper portion of the protrusion 57 is made of a magnetic material, but the entire ejector tip portion 46 may be made of a magnetic material.

[0023] 9A and 9B are diagrams illustrating the operation of the ejector-replacing autochanger 60 in the second embodiment, with FIGS. 9A and 9B being a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal centerline of the ejector-replacing autochanger 60 when the ejector tip portion 46 is held, respectively, and FIGS. 9C and 9D being a plan view and a cross-sectional view taken along a vertical plane passing through the longitudinal centerline of the ejector-replacing autochanger 60 when the ejector tip portion 46 is ready to be attached or detached, respectively. As shown in FIG. 9, the ejector-replacing autochanger 60 in the second embodiment has the following components 2-9 to 2-12. (Component 2-9) A tip receiving plate 61 that receives the ejector tip portion 46. (Component 2-10) A recess provided on the upper surface of the tip receiving plate 61, which is a tip receiving portion 62 for receiving the lower portion of the ejector tip portion 46. (Component 2-11) A chip sliding plate 63 that is provided on the upper surface side of the chip receiving plate 61 and is slidable in the longitudinal direction from the position shown in FIGS. 9(A) and 9(B) to the position shown in FIGS. 9(C) and 9(D). (Component 2-12) A tip opening provided in the tip sliding plate 63, which connects a large diameter portion 64 through which the lower part of the ejector tip part 46 can pass and a small diameter portion 65 through which only the upper part can pass. 9(A) and (B), the convex portion 57 of the ejector tip portion 46 is located near the center of the small diameter portion 65, and the lower portion cannot pass through the small diameter portion 65, so the ejector tip portion 46 is held in the tip accommodating portion 62 and cannot escape upward. Conversely, in Figures 9(C) and (D), the convex portion 57 of the ejector tip portion 46 is located near the center of the large diameter portion 64, and the lower portion can also pass through the large diameter portion 64, so the ejector tip portion 46 is in a state where it can be attached to and detached from the tip accommodating portion 62. Although Figure 9 shows only one tip storage section 62, tip sliding plate 63, and tip opening, multiple units are arranged in the X-axis direction to hold multiple types of ejector tip sections 46.

[0024] The procedure for replacing the ejector tip portion 46 fixed to the ejector base portion 45 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 ejector 25 directly above the empty tip storage section 62 of the ejector replacement autochanger 60. (Step 1) The ejector driving means 28 is actuated to move the ejector 25 in the Z-axis direction, and the ejector tip portion 46 is brought into a state where it projects from the gripper 24. (Step C) Slide the tip sliding plate 63 of the ejector replacement autochanger 60 to the right in the longitudinal direction until the large diameter portion 64 of the tip sliding plate 63 is positioned directly above the tip storage section 62, and then use the Z-axis direction moving means 26 to lower the protruding ejector 25 and place it on an empty tip storage section 62 of the ejector replacement autochanger 60 and stop it. (Step d) The tip sliding plate 63 of the ejector replacement autochanger 60 is slid leftward in the longitudinal direction until the center of the small diameter portion 65 is positioned at the convex portion 57 of the ejector tip portion 46, and then the ejector base portion 45 is raised by the Z-axis direction moving means 26. As a result, the ejector tip portion 46 is unable to move upward, so the convex portion 57 disengages from the magnetic portion 55 of the ejector base portion 45 and is accommodated in the tip accommodation portion 62. (Step E) The odd-shaped component mounting device 2 is moved by the X-axis direction moving means 3, and the ejector base 45 is moved directly above the convex portion 57 of the ejector tip portion 46 to be used in the ejector replacement autochanger 60. (Step F) Slide the tip sliding plate 63 of the ejector replacement autochanger 60 to the right in the longitudinal direction until the large diameter portion 64 of the tip sliding plate 63 is positioned directly above the tip storage portion 62, then use the Z-axis movement means 26 to lower the ejector base 45, insert the recess 54 into the protrusion 57 of the ejector tip portion 46 to be used, and stop it after the upper surface of the protrusion 57 is coupled with the magnetic portion 55. (Step g) The ejector 25 is raised to a predetermined position by the Z-axis direction moving means 26. (Step H) The ejector driving means 28 is actuated to move the ejector 25 in the Z-axis direction, and the ejector 25 is raised. (Step I) The tip sliding plate 63 of the ejector replacement autochanger 60 is slid leftward in the longitudinal direction, so that another ejector tip portion 46 is held in the tip receiving portion 62 .

[0025] The procedure for mounting components 8 on board 7 using odd-shaped component mounting machine 23 is as follows. (Step 2-1) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the gripper 24 directly above the component 8 placed on the component providing means 9. (Step 2-2) The gripper driving means 27 is operated to open the gripper 24. (Step 2-3) The open gripper 24 is lowered by the Z-axis direction moving means 26 and stopped just before the lower end of the gripper 24 comes into contact with the component providing means 9. (Step 2-4) The gripper driving means 27 is operated, the gripper 24 is closed to clamp the component 8, and then the gripper driving means 27 is stopped. (Step 2-5) The gripper 24 is raised to a predetermined position by the Z-axis direction moving means 26. (Step 2-6) The X-axis direction moving means 3 and the Y-axis direction moving means 4 are actuated to move the gripper 24 holding the component 8 to directly above the component mounting position on the board 7. (Step 2-7) The gripper 24 is lowered by the Z-axis direction moving means 26 and stopped just before the component 8 comes into contact with the board 7. (Step 2-8) Activate the gripper driving means 27 to gradually open the gripper 24, and at the same time activate the ejector driving means 28 to gradually lower the ejector 25 until the component 8 has descended to the position where it can be attached to the board 7, and then stop the ejector driving means 28. (Step 2-9) When the operation of the ejector 25 is completed, the Z-axis direction moving means 26 raises the gripper 24 to a predetermined position. Thereafter, by repeating the above-mentioned (Step 2-1) to (Step 2-9), the components 8 placed on the component providing means 9 can be mounted onto the board 7 in sequence.

[0026] Modifications of the first and second embodiments are listed below. (Variation 1) In the height change means 19 of the first and second embodiments, the guide rod 22 limits the elevation of the mounting table 20 between the lower limit position and the upper limit position, but the lower limit position and the upper limit position may be made changeable. Also, for intermediate positions, it is better to control the air supply means 48 or the exhaust means 49 to change the height of the support member that supports the lower surface of the mounting table 20 at the intermediate position, so that the height can be adjusted to make it easy for the camera to recognize the position and type of the nozzle 5, etc. (Variant 2) The height changing means 19 in Examples 1 and 2 was equipped with a lifting device 21 that uses air pressure to move the lifting rod up and down, but instead of injecting and discharging air, it is also possible to use the injection and discharge of various gases, liquids, etc. Moreover, instead of the lifting device 21, any means may be used, such as a linear motor or means for converting rotary motion into linear motion (for example, a rack and pinion), as long as it can move the lifting rod up and down.

[0027] (Variation 3) In the second embodiment, the gripper jaw units 30 were replaced with respect to the left and right gripper base units 29 by using the gripper replacement autochanger 35, but it is also possible to replace an openable and closable gripper unit in which the left and right gripper base units 29 and the gripper jaw units 30 are integrated with each other with a member that is opened and closed by the gripper drive means 27. In this case, it is necessary to provide a recess for accommodating the integrated member between the first storage unit 37 and the second storage unit 38 in the gripper storage unit of the gripper replacement autochanger. (Variant 4) In Example 2, the X-axis direction moving means 3, the Y-axis direction moving means 4, the Z-axis direction moving means 26, and the ejector driving means 28 were operated, and the ejector tip portion 46 was replaced with respect to the ejector base portion 45 by using the ejector replacement autochanger 60, but this may also be done by a worker or manager without using the ejector replacement autochanger 60.

[0028] (Variant 5) The ejector drive means 28 of Example 2 was composed of air supply means 48 that sends air to the top of the ejector holding means 47, exhaust means 49 that exhausts air from the bottom of the ejector holding means 47, and spring 50 that pushes the ejector base 45 upward, but if the exhaust means 49 can be made to supply air pressure to push the ejector base 45 upward as needed, the spring 50 does not need to be provided. Moreover, instead of the ejector drive means constituted by the gas supply means 48 and the exhaust means 49, a fluid drive means for supplying or discharging various gases or liquids may be used. (Variant 6) The ejector drive means 28 of Example 2 is composed of air supply means 48, exhaust means 49, and spring 50, and although it has been explained in Variant 5 that it may also be fluid drive means, any means may be employed in place 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 25 in the Z-axis direction.

[0029] (Variant 7) In Example 2, the recess 54 provided on the tip surface of the ejector base 45 and the protrusion 57 provided on the rear end side of the ejector tip portion 46 were both cylindrical, but any shape is acceptable as long as the protrusion 57 can be inserted into the recess 54. In order to make it easier to insert the protrusion 57 into the recess 54, it is better to widen the tip end side of the recess 54 and narrow the rear end side of the protrusion 57. (Variant 8) In Example 2, magnetic fixing means 53 was used to detachably fix the ejector tip portion 46, and jaw portion fixing means 31 was used to detachably fix the gripper jaw portion 30, but clamp fixing means may also be used. The clamp fixing means 66 shown in FIG. 10 is an example of a means that replaces the magnetic fixing means 53, and has a clamp recess 68 with a spring clamp portion 67 formed in the lower part of the ejector base 45, a tapered portion 69 provided at the upper end of the convex portion 57 of the ejector tip portion 46, and a clamp groove 70 provided on the side surface of the upper part of the convex portion 57, into which the spring clamp portion 67 can be fitted. When the protrusion 57 is inserted into the clamp recess 68, the tapered portion 69 hits the lower part of the spring clamp portion 67, causing the spring clamp portion 67 to move to the left. When the protrusion 57 moves further upward, the spring clamp portion 67 climbs over the tapered portion 69 and fits into the clamp groove 70, and the ejector tip portion 46 is fixed to the ejector base 45. Conversely, when the ejector base 45 moves upward with the ejector tip 46 fixed, the spring clamp 67 climbs over the tapered portion 69 and comes out of the clamp groove 70, so that the fixed state between the ejector tip 46 and the ejector base 45 is released. [Explanation of symbols]

[0030] 1 Component mounting device 2 Odd-shaped component mounting device according to embodiment 1 3 X-axis direction movement means 4 Y-axis direction movement means 5 Nozzle 6 Nozzle replacement autochanger 7 Circuit board 8 Parts 9 Part providing means 10 Head portion 11 Shaft 12 nozzle receiving plate 13 nozzle receiving portion 14 nozzle sliding plate 15 large diameter portion 16 small diameter portion 17 upper portion of nozzle 5 18 Lower portion of nozzle 5 19 Height changing means 20 Placement base 21 lifting device 22 guide rod 23 Odd-shaped component mounting machine according to Example 2 24 Gripper 25 Ejector 26 Z-axis direction moving means 27 Gripper driving means 28 Ejector drive means 29 Gripper base 30 Gripper jaw portion 31 Jaw portion fixing means 32 Insertion portion 33 ring-shaped permanent magnet 34 protrusion 35 Gripper replacement autochanger 36 Jaw storage plate 37 First receiving portion 38 Second receiving portion 39 First sliding plate 40: second sliding plate; 41: first rectangular portion; 42: first small diameter portion 43 Second rectangular part 44 Second small diameter part 45 Ejector base 46 Ejector tip portion 47 Ejector holding means 48 Air supply means 49 Exhaust means 50 Spring 51 Air flow rate measuring means 52 Exhaust flow rate measuring means 53 Magnetic fixing means 54 Concave portion 55 Magnetically attracted portion 56 Annular permanent magnet 57 Convex portion 60 Ejector replacement autochanger 61 Tip storage plate 62 tip receiving portion 63 tip sliding plate 64 large diameter portion 65 small diameter portion 66 clamp fixing means 67 spring clamp portion 68 Clamp recess 69 Tapered portion 70 Clamp groove

Claims

1. An odd-shaped component mounting machine comprising a gripper for gripping a component or a nozzle for suctioning a component, and a gripper driving means for opening and closing the gripper or a nozzle operating means for operating the nozzle, The gripper or the nozzle is replaceable in accordance with a part to be gripped or sucked, an autochanger for automatically exchanging the gripper or the nozzle with another gripper or another nozzle; a height changing means for changing the height of the autochanger, The height changing means can change the height of the autochanger to at least three levels: a low position which is set when the gripper or the nozzle is moved back and forth and left and right to grip or suck a part; a middle position which is set when recognizing the position or type of another gripper or another nozzle arranged in the autochanger; and a high position which is set when replacing the gripper or the nozzle. An odd-shaped component mounting machine characterized by the above.

2. The odd-shaped component mounting machine further includes an ejector that pushes out the component gripped by the gripper, and an ejector drive means that drives the ejector, the ejector is replaceable in accordance with a part gripped by the gripper, The autochanger is provided with other ejectors for automatically replacing the ejector with another ejector.

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

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