Tray feeder, component mounting apparatus, and tray extraction method

Abstract

A tray feeder, a component mounting device, and a tray drawing method are provided that can move a tray horizontally with simple control. [Solution] The tray feeder includes a storage section for storing the tray holder and a pull-out mechanism 30 for pulling the tray holder out of the storage section in a first direction. The pull-out mechanism 30 includes a support section for supporting the tray holder as it moves in the first direction, a lever member 40 having an engaging portion 39 at a first node N1 that engages with a notch in the tray holder, a link mechanism 41 connected to the lever member 40 that changes the position and orientation of the lever member 40 so that the engaging portion 39 moves along the support section in the first direction, and a drive mechanism 34 that moves the second node N2 of the link mechanism 41 in the first direction.

Description

[Technical Field]

[0001] The present disclosure relates to a tray feeder that supplies trays containing components to a component mounting device, a component mounting device, and a tray drawing method. [Background technology]

[0002] Tray feeders that supply components such as semiconductor chips are often used in component mounting devices. These tray feeders store trays, each containing a plurality of components in a flat configuration, in multiple stages in a stacking container such as a rack, and supply the components stored on the trays to the component mounting device by sequentially pulling out the trays and moving them to a component supply position (see, for example, Patent Document 1). Patent Document 1 discloses a tray pull-out device (tray feeder) that pulls out the tray plate horizontally from the rack by engaging an engaging portion of a pull-out mechanism with a notch provided in a plate-shaped tray plate (tray holding portion) that holds the tray.

[0003] The drawer mechanism of the tray drawer disclosed in Patent Document 1 includes a moving part that moves horizontally, a drive mechanism that moves the moving part horizontally, a lever member that has an engaging part at its upper part and is pivotally supported by the moving part so that it can swing freely within a vertical plane, and a swing drive transmission means that transmits the driving force of the drive mechanism and swings the lever member using a cam. The swing drive transmission means disclosed in Patent Document 1 swings the lever member using the cam to move the engaging part horizontally and offsets the vertical displacement of the engaging part. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2007-324156 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the prior art, including Patent Document 1, had the following problem due to the use of a cam in the mechanism for moving the tray holding part horizontally. Specifically, because the horizontal movement of the engaging part and the horizontal movement of the moving part are not in a linear relationship, in order to pull out the tray holding part engaged with the engaging part at a constant speed, it is necessary to control the moving part to move in a complex nonlinear movement pattern, which resulted in a complex control system.

[0006] Therefore, the present disclosure aims to provide a tray feeder, a component mounting apparatus, and a tray withdrawal method that can move a tray horizontally by simple control. [Means for solving the problem]

[0007] The tray feeder of this disclosure is mounted on a component mounting apparatus that mounts components onto a substrate using a mounting head, and supplies trays containing components to a component removal position from which the components are removed by the mounting head, and comprises a storage section for storing a tray holding section that holds the tray, and a pull-out mechanism for pulling the tray holding section out of the storage section in a first direction, wherein the tray holding section is provided with an engagement notch at its end, and the pull-out mechanism comprises a support section for supporting the tray holding section that moves in the first direction, a lever member having an engagement section at a first node that engages with the notch, a link mechanism connected to the lever member that changes the position and orientation of the lever member so that the engagement section moves along the support section in the first direction, and a drive mechanism that moves a second node of the link mechanism in the first direction.

[0008] The component mounting device of the present disclosure is a component mounting device that uses a mounting head to remove components stored in a tray and mount them on a board, and is equipped with: a storage section that stores a tray holding section that holds the tray; and a pull-out mechanism that pulls out the tray holding section from the storage section in a first direction, wherein the tray holding section has an engaging notch at its end, and the pull-out mechanism has: a support section that supports the tray holding section that moves in the first direction; a lever member having an engaging section at a first node that engages with the notch; a link mechanism connected to the lever member and changing the position and posture of the lever member so that the engaging section moves in the first direction along the support section; and a drive mechanism that moves a second node of the link mechanism in the first direction.

[0009] The tray pull-out method disclosed herein is a tray pull-out method in which a tray holding section that holds a tray is pulled out in a first direction from a storage section by a pull-out mechanism, wherein the tray holding section has an engaging notch at its end, and the pull-out mechanism has a first node having an engaging section that engages with the notch, a second node that moves in the first direction, and a third node whose position is fixed, and the first node is positioned so that a first diamond having the second node and the third node as diagonals thereof is similar to a second diamond having the second node and the first node as diagonals thereof, and the engaging section is engaged with the notch of the tray holding section stored in the storage section, and the second node is moved in the first direction. [Effects of the Invention]

[0010] According to the present disclosure, the tray can be moved horizontally with simple controls. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a plan view showing a configuration of a main part of a component mounting apparatus according to an embodiment of the present disclosure; [Figure 2] 1 is a configuration explanatory diagram of a component mounting device and a tray feeder according to an embodiment of the present disclosure; [Figure 3]A perspective view of a tray holding section used in a tray feeder according to one embodiment of the present disclosure, which holds a tray. [Figure 4] A perspective view showing the state in which the drawer mechanism of a tray feeder according to one embodiment of the present disclosure draws out the tray holding part from the storage part. [Figure 5] A perspective view showing the state in which the drawer mechanism of a tray feeder according to one embodiment of the present disclosure has moved the tray holding portion to the parts removal position. [Figure 6] A perspective view showing the configuration of the main part of the drawer mechanism of a tray feeder according to one embodiment of the present disclosure. [Figure 7] A side view showing the configuration of the link mechanism and lever member of the drawer mechanism of a tray feeder according to one embodiment of the present disclosure. [Figure 8] A front view showing the configuration of the link mechanism and lever member of the drawer mechanism of a tray feeder according to one embodiment of the present disclosure. [Figure 9] A diagram illustrating the functions of the link mechanism and lever member of the drawer mechanism of a tray feeder according to one embodiment of the present disclosure. [Figure 10] (a) A side view of the link mechanism and lever member in a state in which the drawer mechanism of the tray feeder of one embodiment of the present disclosure has moved the tray holding portion to the first component removal position; (b) A partially enlarged oblique view of the lever member including the engagement portion and the recognition member. [Figure 11] (a) A side view of the link mechanism and lever member in a state in which the drawer mechanism of the tray feeder of one embodiment of the present disclosure has moved the tray holding portion to a second component removal position; (b) A partially enlarged oblique view of the lever member including the engagement portion and the recognition member. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of the present disclosure will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are examples for explanation purposes and can be modified as appropriate depending on the specifications of the component mounting device and tray feeder. In the following, corresponding elements in all drawings will be given the same reference numerals, and duplicated explanations will be omitted. In FIG. 1 and in some parts described below, two axes that are orthogonal to each other in a horizontal plane are shown: an X-axis in the board transport direction (the left-right direction in FIG. 1) and a Y-axis that is orthogonal to the board transport direction (the up-down direction in FIG. 1). In FIG. 2 and in some parts described below, a Z-axis (the up-down direction in FIG. 2) is shown as a height direction that is orthogonal to the horizontal plane.

[0013] First, the configuration of component mounting apparatus 1 will be described with reference to Figures 1 and 2. Component mounting apparatus 1 has the function of performing component mounting work, which involves mounting components supplied to a component supply unit by a mounting head onto a substrate to manufacture a mounted substrate. A substrate transport mechanism 3 is arranged along the X-axis in the center of base 2. The substrate transport mechanism 3 transports substrate B, which has been transported from upstream, to the mounting work position, positions it, and holds it. The substrate transport mechanism 3 also transports substrate B downstream after the component mounting work has been completed.

[0014] Component supply units 4 are provided on both sides (front and back directions of the Y axis) of the board transport mechanism 3. Each component supply unit 4 has multiple tape feeders 5 arranged along the X axis. The tape feeders 5 feed a carrier tape, on which pockets for storing components are formed, at a pitch rate in a direction (tape feed direction) from the outside of the component supply unit 4 toward the board transport mechanism 3, thereby supplying components to a component pick-up position where the components are picked up by a mounting head 10, which will be described below.

[0015] 1 and 2, a tray feeder 20 is attached to the front component supply unit 4, which supplies tray holders 7 holding trays 6 containing components D such as large components, connectors, and communication modules to a component removal position P. That is, the tray feeder 20 is attached to the component mounting apparatus 1, and supplies the trays 6 containing the components D to the component removal position P from which the mounting head 10 removes the components D.

[0016] 1 and 2, a Y-axis table 8 equipped with a linear drive mechanism is arranged along the Y-axis at both ends of the X-axis on the upper surface of the base 2. A beam 9 similarly equipped with a linear drive mechanism is connected to the Y-axis table 8 so as to be movable along the Y-axis. The beam 9 is arranged along the X-axis. A mounting head 10 is attached to the beam 9 via a plate 9a so as to be movable along the X-axis. The mounting head 10 is detachable from the plate 9a. The mounting head 10 is equipped with a plurality of mounting units 14. A nozzle 15 for suctioning and holding a component D is attached to the lower end of each mounting unit 14.

[0017] The Y-axis table 8 and beam 9 constitute a head movement mechanism 11 that moves the mounting head 10 along the X-axis and Y-axis. The head movement mechanism 11 and mounting head 10 perform a mounting turn in which they pick up and remove components D from tape feeders 5 or tray feeders 20 arranged in the component supply section 4 using nozzles 15 attached to mounting units 14, and mount the components at the mounting positions on board B positioned by the board transport mechanism 3.

[0018] 1 and 2, a component recognition camera 12 is disposed between the component supply unit 4 and the board transport mechanism 3. When the mounting head 10, which has picked up a component D from the component supply unit 4, moves above the component recognition camera 12, the component recognition camera 12 captures an image of the component D held by the mounting head 10. The captured image allows the holding posture of the component D to be recognized. A head camera 13 is attached to the plate 9a to which the mounting head 10 is attached. The head camera 13 moves integrally with the mounting head 10.

[0019] As the mounting head 10 moves, the head camera 13 moves above the board B positioned by the board transport mechanism 3, and captures an image of a board mark (not shown) provided on the board B to recognize the position of the board B. When the mounting head 10 mounts components on the board B, the mounting position is corrected taking into account the recognition result of the component D by the component recognition camera 12 and the recognition result of the board position by the head camera 13.

[0020] Next, the configuration of the tray feeder 20 will be explained with reference to Figure 2. The tray feeder 20 is equipped with wheels 21 on its underside and is movable on the floor where the component mounting device 1 is installed. Hereinafter, the side of the tray feeder 20 that moves on the floor and is mounted on the component mounting device 1 will be referred to as the rear side in the Y-axis direction, and the opposite side of the rear side will be referred to as the front side in the Y-axis direction. Also, the right side when viewed from the front will be referred to as the right side in the X-axis direction, and the opposite side will be referred to as the left side in the X-axis direction.

[0021] In Figure 2, a rack 23 is housed inside the tray feeder 20 at the front, with multiple storage compartments 22 arranged vertically (in the Z-axis direction) to house tray holding parts 7 that hold the trays 6. Inside the tray feeder 20, a tray positioning unit 24 is located behind the rack 23, which pulls out the tray holding parts 7 from the storage compartments 22 and positions them at the parts removal position P. The tray positioning unit 24 is comprised of a pull-out mechanism 30 that pulls out the tray holding parts 7 from the storage compartments 22 in the Y-axis direction (first direction), and a lifting mechanism 25 that moves the pull-out mechanism 30 up and down.

[0022] The drawer mechanism 30 has a horizontal motor 33 that drives a belt 32 that is aligned with two pulleys 31 located at the front and rear inside the drawer mechanism 30, and a drive mechanism 34 that generates a driving force to move the tray holding part 7 (see also Figure 6). The lifting mechanism 25 is configured with a lead screw 26 that is screwed perpendicularly into a nut member (not shown) provided on the drawer mechanism 30, and a lifting motor 27 that rotationally drives the lead screw 26.

[0023] Here, referring to Figure 2, the tray supply process in which the tray feeder 20 pulls out the tray holding unit 7 from the storage unit 22 and moves it to the parts removal position P will be described. First, the tray feeder 20 operates the lifting motor 27 to move the pull-out mechanism 30 to the front of the storage unit 22 (arrow a1) and engages the engaging part 39 with the notch 7c of the tray holding unit 7 (see Figure 4). Next, the tray feeder 20 operates the horizontal motor 33 to pull out the tray holding unit 7 from the storage unit 22 to the rear side in the Y-axis direction (first direction) and move it to the top of the pull-out mechanism 30 (arrow a2).

[0024] Next, the tray feeder 20 operates the lifting motor 27 to move the drawer mechanism 30 to the height of the component removal position P (arrow a3). Next, the tray feeder 20 operates the horizontal motor 33 to move the tray holding unit 7 in the first direction (arrow a4) to move the tray 6 to the component removal position P (see FIG. 5). The tray storing process, in which the tray holding unit 7, which holds the tray 6 emptied after the components D have been removed, is moved from the component removal position P to store it in the storage unit 22, is the reverse operation of the tray supplying process, and a detailed description thereof will be omitted.

[0025] Next, the configuration of the tray 6 and the tray holder 7 will be described with reference to FIG. 3. A plurality of storage recesses 6a are formed in a grid pattern on the top surface of the tray 6. A component D is stored in each storage recess 6a. The tray 6 is held by the tray holder 7 by a holding mechanism (not shown) arranged in the tray holder 7. A cutout 7a is formed at the rear end of the tray holder 7 by partially removing the tray holder 7. Engagement blocks 7b are arranged at both ends of the cutout 7a. In the engagement blocks 7b, notches 7c are formed at positions where the pair of engagement blocks 7b face each other, with which the engagement portion 39 (see FIG. 4) engages when the tray is drawn by the drawer mechanism 30. In this way, the tray holder 7 is provided with the engagement notches 7c at its end.

[0026] Next, the configuration of the drawer mechanism 30 provided in the tray feeder 20 will be described with reference to Figures 4 to 6. Figure 4 shows a state in which the drawer mechanism 30 has engaged the engaging portion 39 with the tray holding portion 7 stored in the storage portion 22. Figure 5 shows a state in which the drawer mechanism 30 has moved the tray holding portion 7 to the component removal position P. Figure 6 schematically shows the main parts of the drawer mechanism 30.

[0027] 4 and 5, drawer rails 35 extending in the Y-axis direction (first direction) are arranged on the top surface of the drawer mechanism 30 at positions spaced apart in the X-axis direction, and a support plate 36 extending in the Y-axis direction is arranged in the center in the X-axis direction. The tray holder 7 has its lower surface supported by support surfaces 35a of the pair of drawer rails 35 and support surface 36a of the support plate 36, and moves in the Y-axis direction while both ends are guided by guide surfaces 35b of the pair of drawer rails 35. In this way, the pair of drawer rails 35 and the support plate 36 form a support portion 37 that supports the tray holder 7 moving in the first direction (Y-axis direction).

[0028] 4 to 6, the drawer mechanism 30 includes a rod-shaped connecting member 38 extending in the X-axis direction. The connecting member 38 is made of a hard material such as metal. Engagement portions 39 are disposed on both ends of the connecting member 38. The engagement portions 39 are shaped so as to be able to engage with the notched portions 7c of the tray holder 7. The engagement portions 39 are attached to the connecting member 38 so as to be rotatable around the X-axis. The rotation axis of the connecting member 38 about which the engagement portions 39 rotate constitutes a first joint N1. When the engagement portions 39 are engaged with the notched portions 7c of the tray holder 7, the connecting member 38 is positioned in the cutout portions 7a of the tray holder 7.

[0029] 6, the drawer mechanism 30 includes a plate-shaped right lever member 40R, a right link mechanism 41R to which the right lever member 40R is connected, a plate-shaped left lever member 40L, and a left link mechanism 41L to which the left lever member 40L is connected. The right lever member 40R and the left lever member 40L are formed of a hard material such as metal. The right side of the connecting member 38 is supported by one end of the right lever member 40R, and the left side of the connecting member 38 is supported by one end of the left lever member 40L.

[0030] A right slider base 43R extending in the Y-axis direction (first direction) is disposed on the right side of the X-axis direction on the upper surface of the bottom plate 42 of the drawer mechanism 30, and a left slider base 43L extending in the Y-axis direction (first direction) is disposed on the left side of the X-axis direction. A right slider 44R moving in the Y-axis direction along a rail is disposed above the right slider base 43R. A right moving unit 45R is disposed above the right slider 44R. Furthermore, a left slider 44L moving in the Y-axis direction along a rail is disposed above the left slider base 43L. A left moving unit 45L is disposed above the left slider 44L.

[0031] 6, the right-side link mechanism 41R is disposed in the drawer mechanism 30 so as to vertically pass through a right-side opening 42a formed in the bottom plate 42. A second joint N2 (described later) of the right-side link mechanism 41R is connected to the right-side moving unit 45R. The left-side link mechanism 41L is disposed in the drawer mechanism 30 so as to vertically pass through a left-side opening 42b formed in the bottom plate 42. A second joint N2 of the left-side link mechanism 41L is connected to the left-side moving unit 45L.

[0032] 6, the drawer mechanism 30 is provided with a flat connecting plate 46 that connects the upper part of the right-side moving unit 45R and the upper part of the left-side moving unit 45L. A belt joint 47 connected to the belt 32 is fixed to the underside of the connecting plate 46. When the horizontal motor 33 drives the belt 32, the belt joint 47 moves along the Y-axis. As a result, the right-side moving unit 45R and the left-side moving unit 45L, which are connected by the connecting plate 46, move together along the Y-axis.

[0033] Furthermore, as the right-side moving unit 45R and the left-side moving unit 45L move simultaneously along the Y-axis, the second joint N2 of the right-side link mechanism 41R and the second joint N2 of the left-side link mechanism 41L move simultaneously along the Y-axis. When the second joint N2 moves in the Y-axis direction (first direction), the right-side link mechanism 41R and the left-side link mechanism 41L change the position and posture of the right-side lever member 40R and the left-side lever member 40L so that the first joint N1 moves along the Y-axis, as will be described later. Then, as the first joint N1 moves along the Y-axis, the tray holder 7, which is engaged with the engagement portion 39, moves along the Y-axis.

[0034] In this way, the pulley 31, the belt 32, the horizontal motor 33, the connecting plate 46, and the belt joint portion 47 constitute a drive mechanism 34 that moves the second node N2 in the first direction (Y-axis direction).

[0035] In FIG. 6, the right lever member 40R and the left lever member 40L are configured to be plane-symmetrical with respect to the YZ plane. Hereinafter, when there is no need to distinguish between the right lever member 40R and the left lever member 40L, they will simply be referred to as "lever members 40." Furthermore, the right link mechanism 41R and the left link mechanism 41L are configured to be plane-symmetrical with respect to the YZ plane. Hereinafter, when there is no need to distinguish between the right link mechanism 41R and the left link mechanism 41L, they will simply be referred to as "link mechanisms 41."

[0036] The right slider base 43R and the left slider base 43L, the right slider 44R and the left slider 44L, and the right moving unit 45R and the left moving unit 45L are configured to be plane-symmetrical with respect to the YZ plane. Hereinafter, when there is no need to distinguish between the right slider base 43R and the left slider base 43L, they will simply be referred to as the "slider base 43." Furthermore, when there is no need to distinguish between the right slider 44R and the left slider 44L, they will simply be referred to as the "slider 44." Furthermore, when there is no need to distinguish between the right moving unit 45R and the left moving unit 45L, they will simply be referred to as the "moving unit 45."

[0037] Thus, the drawer mechanism 30 has a support portion 37 that supports the tray holding portion 7 that moves in the first direction (Y-axis direction), a lever member 40 having an engagement portion 39 at a first node N1 that engages with the notch portion 7c of the tray holding portion 7, a link mechanism 41 that is connected to the lever member 40 and changes the position and posture of the lever member 40 so that the engagement portion 39 moves in the first direction along the support portion 37, and a drive mechanism 34 that moves the second node N2 of the link mechanism 41 in the first direction.

[0038] The drawer mechanism 30 also includes two sets of lever members 40 (right lever member 40R, left lever member 40L) and link mechanisms 41 (right link mechanism 41R, left link mechanism 41L) that are spaced apart in a direction (X-axis direction) perpendicular to the first direction (Y-axis direction). The drive mechanism 34 also moves the second joints N2 of the two sets of link mechanisms 41 simultaneously in the first direction.

[0039] Next, the configuration of the link mechanism 41 of the drawer mechanism 30 will be described with reference to Figures 7 to 9. Figure 7 is a side view of the ring mechanism 41 (right link mechanism 41R) when the engagement portion 39 is positioned to engage with the tray holder 7 stored in the storage section 22, as viewed from the right side in the X-axis direction. Figure 8 is a front view of the ring mechanism 41 (right link mechanism 41R) when the engagement portion 39 is positioned to engage with the tray holder 7 located at the component removal position P, as viewed from the front side in the Y-axis direction. Hereinafter, in Figure 8, the right side of the right link mechanism 41R may be referred to as the "outside" and the left side (the side of the left link mechanism 41L) as the "inside."

[0040] 7 and 8, link mechanism 41 is configured to include plate-like first link member 48, second link member 49, third link member 50, and fourth link member 51, which are made of a hard material such as metal. As will be described later, lever member 40 and first link member 48 to fourth link member 51 are interconnected by a plurality of pins 52 having rotation axes that rotate around the X axis, and their positions and postures can be changed within the YZ plane (see also FIGS. 10(a) and 11(a)).

[0041] A right-side fixing part 53R, corresponding to the right-side link mechanism 41R, and a left-side fixing part 53L, corresponding to the left-side link mechanism 41L, are fixed to the underside of the bottom plate 42 of the drawer mechanism 30. Hereafter, when there is no need to distinguish between the right-side fixing part 53R and the left-side fixing part 53L, they will simply be referred to as "fixing part 53".

[0042] In Figures 7 and 8, the first link member 48 is positioned outside the fixing portion 53. One end of the first link member 48 is connected to the fixing portion 53 by a pin 52. The pin 52 connecting the first link member 48 and the fixing portion 53 constitutes a third node N3. The third node N3 is fixed in position with respect to the base plate 42.

[0043] The second link member 49 is positioned outside the first link member 48. One end of the second link member 49 is connected to the other end of the first link member 48 by a pin 52. The pin 52 connecting the second link member 49 and the first link member 48 constitutes the fourth node N4.

[0044] 7 and 8, the second link member 49 is disposed on the outer side of the lever member 40. The other end of the second link member 49 is connected to the lever member 40 by a pin 52. The pin 52 connecting the second link member 49 and the lever member 40 constitutes the fifth joint N5. In this way, the lever member 40 is disposed on the inner side (the side where the third joint N3 is fixed) of the second link member 49.

[0045] The second link member 49 is disposed outside the moving part 45. The second link member 49 is connected to the moving part 45 by a pin 52 that forms a second joint N2. The second joint N2 is moved in the first direction (Y-axis direction) relative to the bottom plate 42 by the drive mechanism 34. The second joint N2 is disposed between the fourth joint N4 and the fifth joint N5 of the second link member 49.

[0046] Thus, the first link member 48 has one end connected to the third node N3 and the other end connected to the fourth node N4. The second link member 49 has one end connected to the fourth node N4 and the other end connected to the fifth node N5 of the lever member 40, and is connected to the second node N2 between the fourth node N4 and the fifth node N5.

[0047] In Figures 7 and 9, the distance L1 between the third node N3 and the fourth node N4 of the first link member 48 is configured to be equal to the distance L2 between the fourth node N4 and the second node N2 of the second link member 49. Also, the distance L3 between the first node N1 and the fifth node N5 of the lever member 40 is configured to be equal to the distance L4 between the fifth node and the second node N2 of the second link member 49. Furthermore, the fourth node N4, the second node N2, and the fifth node N5 of the second link member 49 are configured to be aligned on the straight line SL1. In addition, the straight line SL2 connecting the third node N3 and the fourth node N4 of the first link member 48 and the straight line SL3 connecting the first node N1 and the fifth node N5 of the lever member 40 are configured to be parallel.

[0048] In Figure 9, with the above configuration, the second node N2 and the third node N3 are diagonal vertices in the first rhombus RH1. Also, the fourth node N4 is a vertex adjacent to the second node N2 and the third node N3 in the first rhombus RH1. Furthermore, the first node N1 and the second node N2 are diagonal vertices in the second rhombus RH2. Also, the fifth node N5 is a vertex adjacent to the first node N1 and the second node N2 in the second rhombus RH2. Finally, the first rhombus RH1 and the second rhombus RH2 are similar shapes.

[0049] 7 and 8, the third link member 50 is disposed on the outside of the first link member 48. One end of the third link member 50 is connected by a pin 52 between the third node N3 and the fourth node N4 of the first link member 48. The pin 52 connecting the third link member 50 and the first link member 48 constitutes the sixth node N6. The third link member 50 is disposed on the outside of the lever member 40. The other end of the third link member 50 is connected by the pin 52 to the outside (lower side) of the fifth node N5 when viewed from the first node N1 of the lever member 40. The pin 52 connecting the third link member 50 and the lever member 40 constitutes the seventh node N7.

[0050] 7 and 9, one end of the third link member 50 is connected to the sixth node N6 of the first link member 48, and the other end is connected to the seventh node N7 of the lever member 40. The third link member 50 is configured so that a line SL1 connecting the fourth node N4 and the fifth node N5 of the second link member 49 and a line SL4 connecting the sixth node N6 and the seventh node N7 of the third link member 50 are parallel to each other.

[0051] 7 and 8, the fourth link member 51 is disposed inside the second link member 49 and the third link member 50. One end of the fourth link member 51 is connected to the second link member 49 and the moving part 45 by a pin 52 that constitutes the second joint N2. The other end of the fourth link member 51 is connected between the sixth joint N6 and the seventh joint N7 of the third link member 50. The pin 52 that connects the fourth link member 51 and the third link member 50 constitutes the eighth joint N8.

[0052] In Figures 7 and 9, the fourth link member 51 is connected at one end to the second node N2 and at the other end to the eighth node N8 of the third link member 50. The straight line SL2 connecting the third node N3 and the fourth node N4 of the first link member 48 and the straight line SL5 connecting the second node N2 and the eighth node N8 of the fourth link member 51 are configured to be parallel.

[0053] Next, the functions of the link mechanism 41 and lever member 40 of the drawer mechanism 30 will be described with reference to Figures 7 and 9. Figure 9 schematically shows the position and posture of the lever member 40 when the second joint N2 moves from the front side along the Y axis (in the first direction) to N2(1), N2(2), and N2(3).

[0054] Because the lever member 40, the first link member 48, and the second link member 49 are formed of a hard material such as metal, even if the second node N2 moves, the distance L1 between the third node N3 and the fourth node N4, the distance L2 between the fourth node N4 and the second node N2, the distance L3 between the first node N1 and the fifth node N5, and the distance L4 between the fifth node N1 and the second node N2 do not change. Furthermore, even if the second node N2 moves, the relationship in which the fourth node N4, the second node N2, and the fifth node N5 are aligned on the line SL1 does not change. Furthermore, even if the second node N2 moves, the position of the third node N3 does not change (it is fixed).

[0055] In Figure 9, the second node N2, the fourth node N4, and the third node N3 are located at the vertices of the first rhombus RH1. The first node N1, the fifth node N5, and the second node N2 are located at the vertices of the second rhombus RH2. Furthermore, even if the second node N2 moves, the relationship that the first rhombus RH1, whose diagonal corners are the second node N2 and the third node N3, and the second rhombus RH2, whose diagonal corners are the second node N2 and the first node N1, are similar remains unchanged.

[0056] That is, the first rhombus RH1(1) and the second rhombus RH2(1) are similar when the second node N2 (shown by the solid line) is in the front (N2(1)). Even if the second node N2 moves to the rear, the first rhombus RH1(2) and the second rhombus RH2(2) are similar when the second node N2 (shown by the dotted line) is in N2(2), and the first rhombus RH1(3) and the second rhombus RH2(3) are similar when the second node N2 (shown by the dashed line) is in N2(3).

[0057] In FIG. 9, when the second node N2 moves along the Y axis (first direction) at a height H1 (N2(1) → N2(2) → N2(3)), the first node N1 moves along the Y axis at a height H2 (N1(1) → N1(2) → N1(3)). Furthermore, if the length of one side of the second rhombus RH2 (distance L3, L4) is k times the length of one side of the first rhombus RH1 (distance L1, L2) (L3 = L4 = k * L1 = k * L2), when the second node N2 moves by a distance E1, the first node N1 moves by a distance E2 that is (k + 1) times the distance E1 (E2 = (k + 1) * E1). For example, if k is 2, the distance E2 is three times the distance E1.

[0058] As described above, there is a linear relationship between the position of the second node N2 and the position of the first node N1. That is, when the second node N2 is moved in the first direction at a constant speed V, the first node N1 also moves in the first direction at a constant speed ((k+1)*V), and the tray holder 7 moves in the first direction at a constant speed ((k+1)*V). In this way, the drawer mechanism 30 can move the second node N2 by simply controlling the drive mechanism 34, thereby appropriately moving the tray holder 7.

[0059] Next, the shape of the lever member 40 will be described with reference to Fig. 10(a). Fig. 10(a) is a side view of the lever member 40 (right lever member 40R) and the ring mechanism 41 (right link mechanism 41R) as viewed from the right side in the X-axis direction in a state in which the drawer mechanism 30 has moved the tray holding part 7 to the first component removal position P1.

[0060] The lever member 40 between the first node N1 and the fifth node N5 is curved so as to be lower (to the second node N2) than the straight line SL3 connecting the first node N1 and the fifth node N5. That is, the lever member 40 is curved toward the second node N2 between the first node N1 and the fifth node N5. This prevents the lever member 40 from interfering with the tray holder 7 with which the engaging portion 39 is engaged.

[0061] Next, with reference to Figures 10 and 11, the recognition member 54 attached to the lever member 40 will be described. Figure 11(a) is a side view of the lever member 40 (right lever member 40R) and the ring mechanism 41 (right link mechanism 41R) as seen from the right side in the X-axis direction, when the drawer mechanism 30 has moved the tray holding part 7 to the second part removal position P2. The second part removal position P2 is set to the rear in the Y-axis direction compared to the first part removal position P1.

[0062] The recognition member 54 has a mark M positioned on its recognition surface 54a, which is recognizable from above when the drawer mechanism 30 moves the tray holding unit 7 to the first part removal position P1 or the second part removal position P2. The mark M is formed by recesses, protrusions, printed areas, etc., which are recognizable by the head camera 13. The head camera 13 images the mark M of the recognition member 54 when it has moved to the part removal position P (first part removal position P1, second part removal position P2) and recognizes the position of the tray 6 held by the tray holding unit 7. The recognition result is used for position correction when the mounting head 10 removes the parts D stored in the tray 6.

[0063] 10 and 11, an elongated hole 54b penetrating in the X-axis direction is formed in the recognition member 54. The recognition member 54 is attached to the lever member 40 so as to be rotatable about the first node N1 as the rotation axis, and is fixed to the lever member 40 by a screw 55 attached to the elongated hole 54b.

[0064] When the drawer mechanism 30 supplies the tray 6 held by the tray holding part 7 to the first part removal position P1, the recognition member 54 is attached to the lever member 40 such that the recognition surface 54a of the recognition member 54 is horizontal when the tray 6 is moved to the first part removal position P1 (Figure 10). Similarly, when the drawer mechanism 30 supplies the tray 6 held by the tray holding part 7 to the second part removal position P2, the recognition member 54 is attached to the lever member 40 such that the recognition surface 54a of the recognition member 54 is horizontal when the tray 6 is moved to the second part removal position P2 (Figure 11).

[0065] Thus, the lever member 40 is fitted with a recognition member 54 having a mark M that can be recognized from above when the drawer mechanism 30 has moved the tray 6 to the parts removal position P (first parts removal position P1, second parts removal position P2). The angle of the recognition member 54 relative to the lever member 40 is adjustable.

[0066] In the above, the tray feeder 20 that is detachable from the component mounting apparatus 1 has been described as an example, but the tray feeder 20 may be configured integrally with the component mounting apparatus 1. That is, the component mounting apparatus 1 may be configured to include a storage section 22 that stores the tray holding section 7 that holds the tray 6, and a pull-out mechanism 30 that pulls out the tray holding section 7 from the storage section 22 in the first direction (Y-axis direction).

[0067] As described above, the present disclosure discloses the following technical ideas.

[0068] (Technology 1) A tray feeder 20 is mounted on a component mounting device 1 that mounts components D onto a substrate B using a mounting head 10, and supplies a tray 6 containing components D to a component removal position P from which components D are removed by the mounting head 10. a storage section (22) for storing a tray holder (7) for holding the tray (6); a drawer mechanism 30 that draws the tray holder 7 from the storage section 22 in a first direction (Y-axis direction), The tray holder 7 has an engagement notch 7c at its end. The drawer mechanism 30 is a support portion 37 that supports the tray holding portion 7 that moves in the first direction; a lever member 40 having an engaging portion 39 provided at a first joint N1 that engages with the notch portion 7c; a link mechanism 41 connected to the lever member 40 and changing the position and posture of the lever member 40 so that the engagement portion 39 moves in a first direction along the support portion 37; and a drive mechanism that moves the second joint of the link mechanism in the first direction.

[0069] This allows tray 6 to be moved horizontally (first direction) with simple control.

[0070] (Technology 2) The link mechanism 41 is, It has a third node N3 whose position is fixed, The tray feeder 20 described in Technical Reference 1, wherein the position and orientation of the lever member 40 are changed so that the first rhombuse RH1, formed by the second node N2 and the third node N3 being diagonal, and the second rhombuse RH2, formed by the second node N2 and the first node N1 being diagonal, are similar in shape.

[0071] As a result, the positional relationship between the second node N2 and the first node N1 becomes linear, allowing the tray 6 to be moved horizontally (first direction) with simple control.

[0072] (Technology 3) The link mechanism 41 is, The third node N3 is fixed in position, A first link member 48 having one end connected to the third node N3 and the other end having the fourth node N4, The system includes a second link member 49, one end of which is connected to the fourth node N4 and the other end of which is connected to the fifth node N5 of the lever member 40, and which is connected to the second node N2 between the fourth node N4 and the fifth node N5. The distance L1 between node 3 N3 and node 4 N4 is equal to the distance L2 between node 4 N4 and node 2 N2. The distance L3 between node 1 N1 and node 5 N5 is equal to the distance L4 between node 5 N5 and node 2 N2. The tray feeder 20 described in Technical Reference 1 or 2, wherein the straight line SL1 connecting the third node N3 and the fourth node N4 and the straight line SL2 connecting the first node N1 and the fifth node N5 are parallel.

[0073] As a result, the positional relationship between the second node N2 and the first node N1 becomes linear, allowing the tray 6 to be moved horizontally (first direction) with simple control.

[0074] (Technology 4) The link mechanism 41 is, The system further comprises a third link member 50, one end of which is connected to the sixth node N6 of the first link member 48 and the other end of which is connected to the seventh node N7 of the lever member 40. The tray feeder 20 described in Technical Reference 3, in which the straight line SL3 connecting the 4th node N4 and the 5th node N5 and the straight line SL4 connecting the 6th node N6 and the 7th node N7 are parallel.

[0075] This allows the tray holding section 7 to be moved stably in the first direction even without the support section 37.

[0076] (Technology 5) The link mechanism 41 is, Further provided is a fourth link member 51 having one end connected to the second node N2 and the other end connected to the eighth node N8 of the third link member 50; The tray feeder 20 described in Technical Reference 4, in which the straight line SL2 connecting the third node N3 and the fourth node N4 and the straight line SL5 connecting the second node N2 and the eighth node N8 are parallel.

[0077] This allows the tray holding portion 7 to move in the first direction more stably even without the support portion 37.

[0078] (Technology 6) The tray feeder 20 according to any one of the technologies 3 to 5, wherein the lever member 40 is positioned on the side of the second link member 49 where the third node N3 is fixed.

[0079] This brings the position of the lever member 40 closer to the third node N3, which is fixed, allowing the position and orientation of the lever member 40 to be changed stably.

[0080] (Technology 7) The tray feeder 20 according to any one of the technologies 1 to 6, wherein a recognition member 54 having a mark M that can be recognized from above when the drawer mechanism 30 has moved the tray 6 to the parts removal position P is attached to the lever member 40.

[0081] This allows the head camera 13 to pick up an image of the mark M, and the position of the tray 6 supplied to the component removal position P can be recognized.

[0082] (Technology 8) The tray feeder (20) according to Technology 7, wherein the angle of the recognition member (54) relative to the lever member (40) is adjustable.

[0083] This allows the angle of the recognition member 54 to be appropriately adjusted in accordance with a plurality of different component removal positions P (first component removal position P1, second component removal position P2).

[0084] (Technology 9) The tray feeder (20) according to Technology 3, wherein the lever member (40) is curved toward the second node (N2) between the first node (N1) and the fifth node (N5).

[0085] This makes it possible to prevent the lever member 40 from interfering with the tray holding portion 7 with which the engaging portion 39 is engaged.

[0086] (Technology 10) The drawer mechanism 30 is A tray feeder 20 according to any one of techniques 1 to 9, comprising two sets of lever members 40 (right lever member 40R, left lever member 40L) and link mechanisms 41 (right link mechanism 41R, left link mechanism 41L) spaced apart in a direction (X-axis direction) perpendicular to a first direction (Y-axis direction).

[0087] This allows the tray 6 to be moved stably in the horizontal direction (first direction).

[0088] (Technology 11) The tray feeder 20 according to the tenth aspect of the present invention, wherein the drive mechanism 34 simultaneously moves the second joints N2 of the two sets of link mechanisms 41 (right link mechanism 41R, left link mechanism 41L) in the first direction (Y-axis direction).

[0089] This allows the two sets of link mechanisms 41 to be moved in synchronization, and the tray 6 can be moved stably in the horizontal direction (first direction) with simple control.

[0090] (Technology 12) A component mounting apparatus (1) that uses a mounting head (10) to pick up components (D) stored in a tray (6) and mount them on a board (B), a storage section (22) for storing a tray holder (7) for holding the tray (6); a drawer mechanism 30 that draws the tray holder 7 from the storage section 22 in a first direction (Y-axis direction), The tray holder 7 has an engagement notch 7c at its end. The drawer mechanism 30 is a support portion 37 that supports the tray holding portion 7 that moves in the first direction; a lever member 40 having an engaging portion 39 provided at a first joint N1 that engages with the notch portion 7c; a link mechanism 41 connected to the lever member 40 and changing the position and posture of the lever member 40 so that the engagement portion 39 moves in a first direction along the support portion 37; and a drive mechanism that moves the second joint of the link mechanism in the first direction.

[0091] This allows tray 6 to be moved horizontally (first direction) with simple control.

[0092] (Technology 12) A tray pull-out method for pulling out a tray holding unit (7) that holds a tray (6) from a storage unit (22) in a first direction (Y-axis direction) by a pull-out mechanism (30), The tray holder 7 has an engagement notch 7c at its end. The drawer mechanism 30 is a first joint N1 provided with an engaging portion 39 that engages with the notch portion 7c; The second node N2 moves in the first direction, It has a third node N3 whose position is fixed, Node 1 N1 is, A first rhombus RH1 having diagonal corners at the second node N2 and the third node N3 and a second rhombus RH2 having diagonal corners at the second node N2 and the first node N1 are provided at positions that are similar in shape, The engaging portion 39 is engaged with the notch portion 7c of the tray holding portion 7 stored in the storage portion 22, A tray pull-out method in which the second node N2 is moved in the first direction.

[0093] This allows tray 6 to be moved horizontally (first direction) with simple control. [Industrial Applicability]

[0094] The tray feeder, component mounting device, and tray drawing method of the present disclosure have the effect of being able to move the tray horizontally with simple control, and are useful in the field of mounting components onto boards. [Explanation of symbols]

[0095] 1. Component mounting equipment 6 trays 7 Tray holder 7c Notch 10 Mounting head 20 Tray Feeder 22 Storage area 30 Drawer mechanism 34 Drive mechanism 37 Support part 39 Engagement part 40 Lever member 41 Link mechanism 48 First link member 49 Second link member 50 Third link member 51 Fourth link member 54 Recognition components B board D parts L1~L4 distance M mark N1 First node N2 2nd node N3 3rd node N4 4th node N5 5th node P Parts removal position RH1 First diamond RH2 Second diamond SL1~SL5 Straight Line

Claims

1. A tray feeder that is attached to a component mounting device that mounts components on a board by a mounting head, and that supplies trays containing components to a component removal position from which the components are removed by the mounting head, a storage unit for storing a tray holder for holding the tray; a drawer mechanism that draws the tray holder from the storage section in a first direction, The tray holder has an engagement notch at an end thereof, The drawer mechanism includes: a support portion that supports the tray holder that moves in the first direction; a lever member having an engaging portion that engages with the notch portion provided at a first joint; a link mechanism connected to the lever member and configured to change the position and posture of the lever member so that the engaging portion moves in the first direction along the support portion; a drive mechanism that moves the second joint of the link mechanism in the first direction.

2. The link mechanism includes: a third node whose position is fixed; A tray feeder as described in claim 1, wherein the position and posture of the lever member are changed so that a first rhombus having diagonal corners of the second node and the third node and a second rhombus having diagonal corners of the second node and the first node are similar in shape.

3. The link mechanism includes: a third node whose position is fixed; a first link member having one end connected to the third joint and the other end having a fourth joint; a second link member having one end connected to the fourth node and the other end connected to a fifth node of the lever member, and connected to the second node between the fourth node and the fifth node; the distance between the third node and the fourth node is equal to the distance between the fourth node and the second node; the distance between the first node and the fifth node is equal to the distance between the fifth node and the second node; 2. The tray feeder according to claim 1, wherein a line connecting the third node and the fourth node and a line connecting the first node and the fifth node are parallel to each other.

4. The link mechanism includes: a third link member having one end connected to the sixth joint of the first link member and the other end connected to the seventh joint of the lever member; 4. The tray feeder according to claim 3, wherein a line connecting the fourth node and the fifth node and a line connecting the sixth node and the seventh node are parallel to each other.

5. The link mechanism includes: a fourth link member having one end connected to the second node and the other end connected to an eighth node of the third link member; 5. The tray feeder according to claim 4, wherein a line connecting the third node and the fourth node and a line connecting the second node and the eighth node are parallel to each other.

6. 4. The tray feeder according to claim 3, wherein the lever member is disposed on a side of the second link member to which the third joint is fixed.

7. 2. The tray feeder according to claim 1, wherein the lever member is provided with an identification member having a mark that can be recognized from above when the drawer mechanism has moved the tray to the component removal position.

8. 8. The tray feeder according to claim 7, wherein the angle of the recognition member relative to the lever member is adjustable.

9. 4. The tray feeder according to claim 3, wherein the lever member is curved toward the second node between the first node and the fifth node.

10. The drawer mechanism includes:

10. The tray feeder according to claim 1, comprising two sets of the lever members and two sets of the link mechanisms arranged apart in a direction perpendicular to the first direction.

11. The tray feeder according to claim 10 , wherein the drive mechanism moves the second joints of the two sets of link mechanisms simultaneously in the first direction.

12. A component mounting device that uses a mounting head to pick up components stored in a tray and mount them on a board, a storage unit for storing a tray holder for holding the tray; a drawer mechanism that draws the tray holder from the storage section in a first direction, The tray holder has an engagement notch at an end thereof, The drawer mechanism includes: a support portion that supports the tray holder that moves in the first direction; a lever member having an engaging portion that engages with the notch portion provided at a first joint; a link mechanism connected to the lever member and configured to change the position and posture of the lever member so that the engaging portion moves in the first direction along the support portion; a drive mechanism that moves the second joint of the link mechanism in the first direction.

13. A tray drawing method for drawing a tray holding section that holds a tray from a storage section in a first direction by a drawing mechanism, The tray holder has an engagement notch at an end thereof, The drawer mechanism includes: a first joint provided with an engaging portion that engages with the notch; a second node that moves in the first direction; a third node whose position is fixed; The first node is a first rhombus having the second node and the third node as diagonal corners and a second rhombus having the second node and the first node as diagonal corners are provided at positions similar to each other; the engaging portion is engaged with the notch portion of the tray holding portion stored in the storage portion; a tray extraction method, comprising: moving the second joint in the first direction;

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