Tray feeder and component mounting equipment

Abstract

The present invention provides a tray feeder and component mounting device that can load and unload pallets into the supply section without interrupting the mounting work. [Solution] The tray feeder includes a storage section for storing pallets that hold trays, a supply section 24 provided in a separate area from the storage section that allows pallets to be inserted into and removed from the tray feeder, and a pallet moving section that removes pallets from the supply section 24 and moves them to a parts removal position or storage section, and also moves pallets back into the supply section 24. The supply section 24 has an opening for inserting and removing pallets into and out of the supply section 24 from outside the tray feeder, a shutter 42 located between the opening and the pallet moving section that opens and closes, and a shutter drive unit 43 that opens and closes the shutter 42. The shutter drive unit 43 opens the shutter 42 when a pallet inserted from the opening reaches a front open position P6 in front of the shutter 42.

Description

Technical Field

[0001] The present disclosure relates to a tray feeder that supplies a tray storing components to a component taking-out position and a component mounting device.

Background Art

[0002] A tray feeder that is attached to a component mounting device that mounts components on a substrate by a mounting head and supplies the components stored in a tray to the component mounting device is frequently used. Patent Document 1 discloses a tray feeder that includes a plurality of storage units that store pallets that hold trays, and a replenishment unit that can take in and out one pallet. Patent Document 1 includes a cover opening / closing detection switch that detects the state of an opening / closing cover that opens and closes an opening in the front of the replenishment unit. When the cover opening / closing detection switch detects the opening of the opening / closing cover, it is disclosed that the mounting head of the component mounting device and the mechanism of the tray feeder are stopped, thereby preventing an accident in which an operator inserts a hand through the opening of the replenishment unit and is injured by the operating mechanism.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prior art including Patent Document 1, there is a problem that the mounting efficiency decreases because the mounting operation stops during the replenishment operation of taking in and out the pallet to and from the replenishment unit by opening the opening / closing cover. There was room for further improvement in order to be able to perform the pallet replenishment operation to the replenishment unit without stopping the mounting operation.

[0005] Therefore, the present disclosure aims to provide a tray feeder and component mounting apparatus that can load and unload pallets into a supply section without stopping the mounting work. [Means for solving the problem]

[0006] 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 pallets that hold the trays; a supply section provided in a separate area from the storage section, capable of loading and unloading the pallets into and out of the tray feeder; and a pallet moving section that loads the pallets from the supply section and moves them to the component removal position or the storage section, and also moves the pallets to the supply section, wherein the supply section has an opening for loading and unloading the pallets into and out of the supply section from outside the tray feeder, a shutter located between the opening and the pallet moving section that opens and closes, and a shutter drive unit that opens and closes the shutter, and the shutter drive unit opens the shutter when the pallet inserted from the opening reaches the front open position in front of the shutter.

[0007] The component mounting apparatus of the present disclosure is a component mounting apparatus that moves a pallet holding a tray containing components from a storage unit to a component removal position, removes the components with a mounting head and mounts them on a substrate, and comprises a supply unit provided in a separate area from the storage unit and capable of inserting and removing the pallet, and a pallet moving unit that removes the pallet from the supply unit and moves it to the component removal position or the storage unit, and moves the pallet to the supply unit, wherein the supply unit has an opening for inserting and removing the pallet from the supply unit from outside the component mounting apparatus, a shutter located between the opening and the pallet moving unit that opens and closes, and a shutter drive unit that opens and closes the shutter, wherein the shutter drive unit opens the shutter when the pallet inserted from the opening reaches the front open position in front of the shutter. [Effects of the Invention]

[0008] According to this disclosure, pallets can be inserted into and removed from the supply unit without interrupting the implementation work. [Brief explanation of the drawing]

[0009] [Figure 1] A plan view showing the configuration of the main part of a component mounting device according to one embodiment of the present disclosure. [Figure 2] A perspective view of a tray feeder according to one embodiment of the present disclosure. [Figure 3] A diagram illustrating the configuration of the main parts of a component mounting apparatus and tray feeder according to one embodiment of the present disclosure. [Figure 4] A perspective view showing the replenishment section of a tray feeder according to one embodiment of the present disclosure in an open state. [Figure 5] A front view showing the replenishment section of a tray feeder according to one embodiment of the present disclosure with the cover open. [Figure 6] (a) A plan view and (b) A side view showing the drive link mechanism of the replenishment section of a tray feeder according to one embodiment of the present disclosure in a state with the shutter closed. [Figure 7] (a) A plan view and (b) A side view showing the drive link mechanism of the replenishment section of a tray feeder according to one embodiment of the present disclosure with the shutter open. [Figure 8] (a) Plan view (b) Perspective view showing the lock link mechanism of the supply section of a tray feeder according to one embodiment of the present disclosure in a state in which the shutter is fixed. [Figure 9] (a) Plan view (b) Perspective view showing the state in which the lock link mechanism of the supply section of a tray feeder of one embodiment of the present disclosure has released the shutter lock. [Figure 10] (a) A partial cross-sectional view of the vicinity of the cutout in the plate of the drive link mechanism and (b) A partial cross-sectional view of the vicinity of the cutout in the plate of the lock link mechanism, which are part of the supply section of a tray feeder according to one embodiment of the present disclosure. [Figure 11]Block diagram showing the configuration of the control system of the component mounting apparatus according to an embodiment of the present disclosure. [Figure 12] Flowchart of a pallet exchange method using a replenishment unit in a component mounting apparatus according to an embodiment of the present disclosure. [Figure 13] Flowchart of a pallet unloading process using a replenishment unit in a component mounting apparatus according to an embodiment of the present disclosure. [Figure 14] (a)(b) Process explanatory diagram of the pallet unloading operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 15] (a)(b) Process explanatory diagram of the pallet unloading operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 16] (a)(b) Process explanatory diagram of the pallet unloading operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 17] (a)(b) Process explanatory diagram of the pallet removal operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 18] (a)(b) Process explanatory diagram of the pallet removal operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 19] (a)(b) Process explanatory diagram of the pallet insertion operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 20] (a)(b) Process explanatory diagram of the pallet insertion operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 21] (a)(b) Process explanatory diagram of the pallet loading operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 22] (a)(b) Process explanatory diagram of the pallet loading operation in the replenishment unit provided in the tray feeder according to an embodiment of the present disclosure. [Figure 23] Side view showing the state where (a) the cover and the shutter are closed and (b) the cover and the shutter are open in the replenishment unit provided in the tray feeder according to another embodiment of the present disclosure. [Figure 24]Plan view showing the state where the cover is closed in the supply unit of the tray feeder according to another embodiment of the present disclosure. [Figure 25] Block diagram showing the configuration of the control system of the component mounting apparatus according to another embodiment of the present disclosure. [Figure 26] Flow chart of the pallet exchange method using the supply unit in the component mounting apparatus according to another embodiment of the present disclosure. [Figure 27] Flow chart of the pallet unloading process using the supply unit in the component mounting apparatus according to another embodiment of the present disclosure. [Figure 28] Flow chart of the pallet removal / insertion process using the supply unit in the component mounting apparatus according to another embodiment of the present disclosure. [Figure 29] Flow chart of the pallet loading process using the supply unit in the component mounting apparatus according to another embodiment of the present disclosure. [Figure 30] (a)(b) Process explanatory diagram of the pallet unloading operation in the supply unit of the tray feeder according to another embodiment of the present disclosure. [Figure 31] Process explanatory diagram of (a) the pallet unloading operation and (b) the pallet removal operation in the supply unit of the tray feeder according to another embodiment of the present disclosure. [Figure 32] Process explanatory diagram of (a) the pallet removal operation and (b) the pallet insertion operation in the supply unit of the tray feeder according to another embodiment of the present disclosure. [Figure 33] (a)(b) Process explanatory diagram of the pallet insertion operation in the supply unit of the tray feeder according to another embodiment of the present disclosure. [Figure 34] (a)(b) Process explanatory diagram of the pallet loading operation in the supply unit of the tray feeder according to another embodiment of the present disclosure.

Embodiments for Carrying Out the Invention

[0010] An embodiment of this disclosure will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are illustrative examples for illustrative purposes and can be modified as appropriate according to the specifications of the component mounting device and tray feeder. In the following, corresponding elements are denoted by the same reference numerals in all drawings, and redundant explanations are omitted. In Figure 1 and some parts described later, the X-axis (left-right direction in Figure 1) in the substrate transport direction and the Y-axis (up-down direction in Figure 1) perpendicular to the substrate transport direction are shown as two mutually orthogonal axes in the horizontal plane. In Figure 1 and some parts described later, the Z-axis (up-down direction in Figure 2) perpendicular to the horizontal plane is shown as the height direction.

[0011] First, with reference to Figure 1, the configuration of the component mounting apparatus 1 will be explained. The component mounting apparatus 1 has the function of performing mounting work to manufacture a mounted substrate by mounting components supplied to the component supply unit by the mounting head onto the substrate. A substrate transport mechanism 3 is positioned along the X-axis in the center of the base 2. The substrate transport mechanism 3 transports the 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 the substrate B, after the mounting work is completed, downstream.

[0012] Component supply units 4 are provided on both sides (front and rear directions along the Y-axis) of the substrate transport mechanism 3. Multiple tape feeders 5 are arranged along the X-axis in each component supply unit 4. The tape feeders 5 feed carrier tapes, which have pockets for storing components, in a pitch direction from the outside of the component supply unit 4 toward the substrate transport mechanism 3 (tape feeding direction), thereby supplying components to the component removal positions where the components will be removed by the mounting head 10 described below.

[0013] In Figure 1, a tray feeder 20 is mounted on the front component supply unit 4 to supply a pallet 7, which holds trays 6 containing components D such as large components, connectors, and communication modules, to the component removal position P. The tray feeder 20 is detachable from the component supply unit 4. The tray feeder 20 is mounted on a component mounting device 1, which mounts components D onto a circuit board B using a mounting head 10, and supplies trays 6 containing components D to the component removal position P from which the components D are removed by the mounting head 10.

[0014] In Figure 1, Y-axis tables 8 equipped with linear drive mechanisms are 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 coupled to the Y-axis tables 8 so as to be movable along the Y-axis. The beam 9 is arranged along the X-axis. A mounting head 10 is mounted on the beam 9 via a beam plate 9a so as to be movable along the X-axis. The mounting head 10 is detachable from the beam plate 9a. The mounting head 10 comprises a plurality of mounting units 14 (Figure 3). A nozzle 15 (Figure 3) for adsorbing and holding components D is attached to the lower end of each mounting unit 14.

[0015] The Y-axis table 8 and beam 9 constitute a head movement mechanism 11 that moves the mounting head 10 along the X and Y axes. The head movement mechanism 11 and the mounting head 10 perform a mounting turn in which they pick up components D from a tape feeder 5 or tray feeder 20 located in the component supply unit 4 using a nozzle 15 attached to the mounting head 10, and mount them at the mounting position on the substrate B positioned in the substrate transport mechanism 3.

[0016] In Figure 1, a component recognition camera 12 is positioned between the component supply unit 4 and the substrate transport mechanism 3. When the mounting head 10, which has taken 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 holding position of the component D is recognized from the captured image. A substrate recognition camera 13 is attached to the beam plate 9a to which the mounting head 10 is mounted. The substrate recognition camera 13 moves integrally with the mounting head 10.

[0017] As the mounting head 10 moves, the substrate recognition camera 13 moves above the substrate B positioned by the substrate transport mechanism 3, and captures images of the substrate marks (not shown) provided on the substrate B to recognize the position of the substrate B. During the mounting operation on the substrate B by the mounting head 10, the mounting position is corrected by taking into account the recognition result of the component D by the component recognition camera 12 and the recognition result of the substrate position by the substrate recognition camera 13.

[0018] In Figure 1, a touch panel 16 is installed at the front of the component mounting device 1 where the worker works. The touch panel 16 displays various information on its display, and the worker uses the operation buttons displayed on the display to input data and operate the component mounting device 1.

[0019] Next, the configuration of the tray feeder 20 will be explained with reference to Figures 2 and 3. 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 of the right side will be referred to as the left side in the X-axis direction.

[0020] Inside the tray feeder 20, at the front, there are multiple storage compartments 22 arranged vertically (in the Z-axis direction) for storing pallets 7 that hold trays 6. Doors 23 are provided at the front of the vertically arranged storage compartments 22. When the component mounting work by the component mounting device 1 is stopped, the worker opens the doors 23 and performs a replenishment operation by swapping the pallets 7 stored in each storage compartment 22. In the replenishment operation, the worker takes out a pallet 7 that holds an empty tray 6 after all the components D have been taken from the storage compartment 22 and puts a pallet 7 that holds a tray 6 containing components D into the storage compartment 22. The tray feeder 20 may also be configured to store a magazine having multiple storage compartments 22. In that case, the worker takes out a magazine containing multiple pallets 7 that hold empty trays 6 and replaces it with a magazine containing multiple pallets 7 that hold trays 6 containing components D.

[0021] In Figures 2 and 3, above the uppermost storage section 22U, a replenishment section 24 is provided, which allows one pallet 7 to be inserted into and removed from the tray feeder 20. On the front side of the replenishment section 24, there is an opening 25 for inserting and removing the pallet 7 into and out of the replenishment section 24 from outside the tray feeder 20, and a cover 26 for opening and closing the opening 25. The operator opens the cover 26 and performs a pallet replacement operation to replace the pallet 7 in the replenishment section 24. In the pallet replacement operation, the operator takes out the pallet 7 holding the empty tray 6 that has been sent from inside the tray feeder 20 to the replenishment section 24 through the opening 25, and stores the pallet 7 holding the tray 6 containing the parts D in the replenishment section 24 through the opening 25. As will be described later, the tray feeder 20 of this embodiment can perform the pallet replacement operation without stopping the mounting work by the parts mounting device 1.

[0022] In Figure 3, a pallet moving unit 27 is positioned behind the multiple storage units 22, 22U and the replenishment unit 24 inside the tray feeder 20. The pallet moving unit 27 removes the pallet 7 from the storage unit 22 and moves it to the component removal position P where the component D is removed by the mounting head 10. The pallet moving unit 27 also moves the pallet 7 from the component removal position P to an empty storage unit 22, 22U. The pallet moving unit 27 also removes the pallet 7 from the replenishment unit 24 and moves it to the component removal position P or an empty storage unit 22, 22U. Furthermore, the pallet moving unit 27 moves the pallet 7 from the component removal position P or storage units 22, 22U to the replenishment unit 24.

[0023] The pallet moving unit 27 is configured with a pull-out mechanism 28 that pulls the pallet 7 out from the storage unit 22, 22U or replenishment unit 24 to the rear in the Y-axis direction and moves the pallet 7 to the front and inserts it back into the storage unit 22, 22U or replenishment unit 24, and a lifting mechanism 29 that moves the pull-out mechanism 28 up and down. The pull-out mechanism 28 moves the pallet 7 back and forth in the Y-axis direction by engaging an engaging portion 28a with a notch portion 7a of the pallet 7 (see Figure 2). The lifting mechanism 29 is configured with a lead screw 30 that is screwed perpendicularly onto a nut member (not shown) provided on the pull-out mechanism 28, and a lifting motor 31 that rotationally drives the lead screw 30. The lifting motor 31 rotates the lead screw 30, causing the pull-out mechanism 28 to move up and down.

[0024] Now, referring to Figure 3, the pallet supply operation in which the tray feeder 20 pulls the pallet 7 out of the storage units 22, 22U and moves it to the parts retrieval position P will be explained. First, the tray feeder 20 operates the lifting motor 31 to move the pull-out mechanism 28 to the height of the storage units 22, 22U (arrow a1). Next, the pull-out mechanism 28 engages the engaging portion 28a with the notch 7a of the pallet 7, moves the engaging portion 28a to the rear in the Y-axis direction, and pulls the pallet 7 out of the storage units 22, 22U and moves it to the top of the pull-out mechanism 28 (arrow a2).

[0025] Next, the tray feeder 20 operates the lifting motor 31 to move the drawer mechanism 28 to the height of the parts retrieval position P (arrow a3). Then, the drawer mechanism 28 moves the engaging portion 28a to the rear in the Y-axis direction (arrow a4), moving the pallet 7 that holds the tray 6 to the parts retrieval position P.

[0026] The pallet storage operation, which involves moving the pallet 7 holding the empty tray 6 (after part D has been removed) from the part removal position P and storing it in the storage units 22 and 22U, is the reverse operation of the pallet supply operation, and a detailed explanation is omitted.

[0027] Furthermore, the pallet loading operation, which involves moving the drawer mechanism 28 to the height of the replenishment unit 24 and moving the pallet 7 loaded into the replenishment unit 24 to the top of the drawer mechanism 28, is the same as the pallet supply operation, and a detailed explanation is omitted. Similarly, the pallet unloading operation, which involves moving the pallet 7 held by the drawer mechanism 28 to the replenishment unit 24, is the same as the pallet storage operation, and a detailed explanation is omitted. In this way, the replenishment unit 24 is provided in a separate area from the storage units 22 and 22U, and it is possible to load and unload pallets 7 into and from the tray feeder 20.

[0028] In Figures 2 and 3, a control panel 32 for the operator to operate the tray feeder 20 is located on the upper part of the tray feeder 20, in a position accessible to the operator when the tray feeder 20 is mounted on the component mounting device 1. The control panel 32 is equipped with buttons for releasing the interlocks (fixing) of the door 23 and cover 26, and buttons for resuming the operation of the tray feeder 20. The control panel 32 is connected to the feeder control unit 33 (Figure 11) of the tray feeder 20. The feeder control unit 33 controls the pallet moving unit 27 (drawing mechanism 28, lifting mechanism 29), etc., according to commands from the control panel 32 and the control device 70 (Figure 11) of the component mounting device 1.

[0029] Next, the configuration of the replenishment unit 24 of the tray feeder 20 will be described with reference to Figures 4 and 5. For convenience, Figures 4 and 5 omit the housing that covers the top and sides of the replenishment unit 24, and the handles that the operator grips when opening and closing the cover 26. Figures 4 and 5 show the cover 26 in the open position.

[0030] In Figures 4, 5, and 11, the cover 26 is configured with a front portion 26a that covers the front of the supply unit 24 when closed, and an upper portion 26b that covers the top surface. The supply unit 24 has a pair of left and right plates 35 that support the pallet 7 passing through the supply unit 24 from below on the floor plate 34, and a pair of left and right guide portions 36 that guide the sides of the pallet 7. An open / close detection unit 37 is provided on the front side of the supply unit 24 to detect the opening and closing of the cover 26. The open / close detection unit 37 is configured with a microswitch or magnetic switch to detect the front portion 26a of the closed cover 26. The detection result of the open / closed state of the cover 26 by the open / close detection unit 37 is transmitted to the feeder control unit 33.

[0031] The supply unit 24 has a cover fixing mechanism 38 that secures the closed cover 26 so that it does not open. The fixing and release of the closed cover 26 by the cover fixing mechanism 38 are controlled by the feeder control unit 33. For example, when the open / close detection unit 37 detects that the cover 26 has been closed, the feeder control unit 33 controls the cover fixing mechanism 38 to fix (lock) the cover 26 so that it does not open. Also, when an operator instructs the feeder control unit 33 to release the lock on the closed cover 26 by operating the control panel 32 of the tray feeder 20 or the touch panel 16 of the component mounting device 1, the feeder control unit 33 releases the cover fixing mechanism 38 from securing the cover 26.

[0032] In Figures 4 and 5, a right-side cover retaining member 39R is positioned on the right side of the cover 26, fixed to the front 26a and upper 26b of the cover 26. A left-side cover retaining member 39L is positioned on the left side of the cover 26, fixed to the front 26a and upper 26b of the cover 26. Note that the right-side cover retaining member 39R and the left-side cover retaining member 39L do not need to be fixed to both the front 26a and upper 26b of the cover 26; they only need to be fixed to either the front 26a or the upper 26b.

[0033] On the front right side of the supply unit 24, a right-side cover support member 40R, whose position is fixed relative to the supply unit 24, is positioned to the left of the right-side cover retaining member 39R. On the front left side of the supply unit 24, a left-side cover support member 40L, whose position is fixed relative to the supply unit 24, is positioned to the right of the left-side cover retaining member 39L. The right-side cover retaining member 39R is connected to the right-side cover support member 40R by a pin 41 extending in the X-axis direction. The left-side cover retaining member 39L is also connected to the left-side cover support member 40L by a pin 41 extending in the X-axis direction.

[0034] Thus, the pin 41 connecting the right cover retaining member 39R and the right cover support member 40R, and the pin 41 connecting the left cover retaining member 39L and the left cover support member 40L, are fixed in position relative to the supply unit 24. With this configuration, the cover 26 can rotate forward and backward in the Y-axis direction with the pin 41 (X-axis) as the axis of rotation (arrow b1 in Figure 4). That is, when the cover 26 rotates forward, the opening 25 is closed by the cover 26. Conversely, when the cover 26 rotates backward, the opening 25 that was closed by the cover 26 opens. The operator opens the cover 26 to open the opening 25 and loads the pallet 7 into and out of the supply unit 24 from the front of the tray feeder 20.

[0035] In Figures 4 and 5, the supply unit 24 has a shutter 42 positioned between the opening 25 and the pallet moving unit 27, which opens and closes. To the right of the shutter 42 is a shutter drive unit 43 (see also Figures 6 and 7) which raises and lowers the shutter 42 (arrow b2 in Figure 4) to open and close it. When the shutter 42 is lowered by the shutter drive unit 43, the space between the opening 25 and the pallet moving unit 27 is closed by the shutter 42. Conversely, when the shutter 42 is raised by the shutter drive unit 43, the space between the opening 25 and the pallet moving unit 27 is opened.

[0036] When the shutter 42 opens, the pallet 7 holding the tray 6 containing the parts D is supported from below by a pair of left and right plates 35, allowing it to pass beneath the shutter 42. With the shutter 42 open, the pallet moving unit 27, which engages the engaging portion 28a of the drawer mechanism 28 with the notch 7a of the pallet 7, moves the pallet 7 in and out from the rear of the supply unit 24. By designing the open shutter 42 to move to a higher position above the floor plate 34, and widening the gap G formed between the floor plate 34, the plates 35 and the shutter 42, it becomes possible to store parts D, which have height in the Z-axis direction, in the tray 6 and move them in and out of the supply unit 24.

[0037] Furthermore, by designing the gap G formed between the closed shutter 42 and the floor plate 34 and plate 35 to be smaller than the thickness of the worker's hand (Figure 5), it is possible to prevent the worker's fingertips, etc., inserted through the opening 25 from touching the pallet moving part 27, etc. Therefore, when the shutter 42 is closed, the worker can safely perform pallet exchange work by opening the cover 26 and inserting and removing pallets 7 into and out of the tray feeder 20 through the opening 25 without stopping the movable parts of the tray feeder 20 or the component mounting device 1.

[0038] In Figures 4 and 5, a locking mechanism 44 (see also Figures 8 and 9) is positioned to the left of the shutter 42 to prevent the closed shutter 42 from opening. When the locking mechanism 44 is locked, the operator cannot open the shutter 42 even if they reach their hand through the opening 25 and touch the shutter 42. Here, we describe a configuration in which the shutter drive unit 43 is positioned to the right of the shutter 42 and the locking mechanism 44 is positioned to the left of the shutter 42, but a configuration in which the shutter drive unit 43 is positioned to the left of the shutter 42 and the locking mechanism 44 is positioned to the right of the shutter 42 is also possible.

[0039] Next, with reference to Figures 6 and 7, the configuration and function of the drive link mechanism 45 provided in the shutter drive unit 43 will be described. Figure 6(a) is a cross-sectional view AA in Figure 6(b). Figure 7(a) is a cross-sectional view BB in Figure 7(b). In Figures 6(a) and 7(a), pins 41 whose position is fixed relative to the supply unit 24 are shown as dotted circles, and pins 41 whose position is not fixed are shown as white circles.

[0040] In Figures 6(b) and 7(b), the shutter 42 is fixed to the front of the right shutter retaining member 46R and the left shutter retaining member 46L (Figure 8(b)). The right shutter retaining member 46R is connected to the right lifting slider 47R, which is fixed in position relative to the supply unit 24. The left shutter retaining member 46L is connected to the left lifting slider 47L (Figure 8(b)), which is fixed in position relative to the supply unit 24. Hereafter, unless otherwise necessary, the right shutter retaining member 46R and the left shutter retaining member 46L will simply be referred to as "shutter retaining member 46". Also, unless otherwise necessary, the right lifting slider 47R and the left lifting slider 47L will simply be referred to as "lifting slider 47".

[0041] The shutter holding member 46 is supported by a lifting slider 47 so as to be able to move up and down along the Z-axis. The shutter 42 moves up and down integrally with the shutter holding member 46. A damper 46a is positioned at the bottom of the shutter holding member 46, which contacts the lower plate 47a of the lifting slider 47 when the shutter holding member 46 descends. When the shutter holding member 46 descends, it stops at a height where the damper 46a contacts the lower plate 47a. That is, the lowest point of the vertically moving shutter holding member 46 is the position where the damper 46a contacts the lower plate 47a. Also, when the shutter holding member 46 is at its lowest point, the shutter 42 is at its lowest point (Figure 6). Hereinafter, the state in which the shutter 42 has descended and the damper 46a has contacted the lower plate 47a and stopped will be simply referred to as the "closed shutter 42" state.

[0042] In Figures 6 and 7, the drive link mechanism 45 is composed of a first link member 48, a shaft fixing member 49, a slide plate 50, front and rear sliders 51, a second link member 52, a third link member 53, and a fourth link member 54. The first link member 48, the second link member 52, the third link member 53, and the fourth link member 54 are plate-shaped members formed from a hard material such as metal.

[0043] The first link member 48 is located to the right of the right shutter retaining member 46R. One end (upper end) of the first link member 48 is connected to the right shutter retaining member 46R by a pin 41 having a rotation axis about the X axis. The pin 41 connecting the first link member 48 and the right shutter retaining member 46R constitutes the first node N1. In this way, the shutter 42 is connected to the drive link mechanism 45 via the right shutter retaining member 46R. The shaft fixing member 49 is located to the right of the first link member 48 and in front of the first node N1. The other end (lower end) of the first link member 48 is connected to the shaft fixing member 49 by a pin 41 having a rotation axis about the X axis. The pin 41 connecting the first link member 48 and the shaft fixing member 49 constitutes the second node N2.

[0044] In Figures 6 and 7, the shaft fixing member 49 is fixed to the front side of the upper surface of the slide plate 50. The slide plate 50 is connected to a front / rear slider 51 positioned on the floor plate 34. The slide plate 50 is supported by the front / rear slider 51 so that it can move back and forth along the X axis. When the slide plate 50 moves back and forth, the shaft fixing member 49 moves back and forth together with the slide plate 50, and the second node N2 connecting the first link member 48 and the shaft fixing member 49 also moves back and forth.

[0045] When the slide plate 50 moves backward and the second node N2 moves backward, the first node N1, which connects the first link member 48 and the right shutter holding member 46R, moves upward. That is, the right shutter holding member 46R rises and the shutter 42 opens (rises) (Figure 7). Conversely, when the slide plate 50 moves forward and the second node N2 moves forward, the first node N1 moves downward and the shutter 42 closes (descends) (Figure 6). If no upward force is applied to the first node N1, the shutter 42 descends due to the weight of the shutter 42 and the shutter holding member 46 and stops at the lowest point.

[0046] In Figures 6 and 7, the second link member 52 is positioned above the slide plate 50. One end (rear end) of the second link member 52 is connected to the rear side of the upper surface of the slide plate 50 by a pin 41 having a rotation axis about the Z axis. The pin 41 connecting the second link member 52 and the slide plate 50 constitutes the third node N3. The third link member 53 is positioned to the left front of the slide plate 50. One end (front end) of the third link member 53 is connected to the floor plate 34 by a pin 41 having a rotation axis about the Z axis. The pin 41 connecting the third link member 53 and the floor plate 34 constitutes the fifth node N5, whose position is fixed relative to the floor plate 34 (supply section 24).

[0047] The fourth link member 54 is located to the left rear of the slide plate 50, that is, behind the third link member 53. The fourth link member 54 is positioned higher than the third link member 53 and lower than the second link member 52. One end (rear end) of the fourth link member 54 is connected to the floor plate 34 by a pin 41 having a rotation axis around the Z axis. The pin 41 connecting the fourth link member 54 and the floor plate 34 constitutes a sixth node N6 whose position is fixed relative to the floor plate 34 (supply section 24). An elongated hole 52a is formed at the other end (front end) of the fourth link member 54, penetrating vertically.

[0048] In Figures 6 and 7, the other end (rear end) of the third link member 53 is connected to the other end (front end) of the second link member 52 by a pin 41 that has a rotation axis around the Z axis and passes through the elongated hole 52a at the other end of the fourth link member 54. The pin 41 connecting the third link member 53, the fourth link member 54, and the second link member 52 constitutes the fourth node N4.

[0049] When the third link member 53 rotates to the right (outward) around the fifth node N5 as its axis of rotation, the fourth node N4 moves to the right rearward. Similarly, when the fourth link member 54 rotates to the right around the sixth node N6 as its axis of rotation, the fourth node N4 also moves to the right rearward. When the fourth node N4 moves to the right rearward, the third node N3, located at one end of the second link member 52, moves rearward. As a result, the slide plate 50 moves rearward and the shutter 42 opens (rises) (Figure 7). Conversely, when the third link member 53 or the fourth link member 54 rotates to the left (inward), the fourth node N4 moves to the left front. When the fourth node N4 moves to the left front, the third node N3, located at one end of the second link member 52, moves forward, and the shutter 42 closes (decreases) (Figure 6).

[0050] In Figures 6 and 7, a front drive contact portion 55 having a roller with a rotation axis around the Z axis is located on the left side (inside) of the third link member 53. The front drive contact portion 55 is connected to the third link member 53 via a front connecting member 58. On the left side (inside) of the fourth link member 54, a first rear drive contact portion 56 and a second rear drive contact portion 57 are located, each having a roller with a rotation axis around the Z axis. The first rear drive contact portion 56 is located in front of the second rear drive contact portion 57. The first rear drive contact portion 56 and the second rear drive contact portion 57 are connected to the fourth link member 54 via a rear connecting member 59.

[0051] In Figure 6(a), with the shutter 42 closed, the front drive contact portion 55 is located at a front contact position P7, which contacts the rear surface 7b of the pallet 7 inserted through the opening 25 (see Figure 19(b)). The second rear drive contact portion 57 is located at a second rear contact position P2, which contacts the front surface 7f of the pallet 7 as it is pushed out from the rear toward the opening 25 by the pallet moving portion 27 (see Figure 15(a)). The first rear drive contact portion 56 is located in front of the second rear contact position P2, at a first rear contact position P3, which contacts the front surface 7f of the pallet 7 as it is pushed out from the rear toward the opening 25 by the pallet moving portion 27 (see Figure 15(b)). Before the pallet 7 makes contact, the second rear drive contact portion 57 is located further outward (to the right) in the width direction than the first rear drive contact portion 56.

[0052] In Figure 7(a), when the pallet 7, whose rear surface 7b is in contact with the front drive contact portion 55 at the front contact position P7, is pushed further backward, the front drive contact portion 55 moves to the right (in the width direction intersecting the front-to-back direction of movement of the pallet 7) and moves to the side of the pallet 7. The position where the front drive contact portion 55 has moved to the side of the pallet 7 is called the front open position P6 (see Figure 20(b)). That is, the shutter 42, which was closed when the front drive contact portion 55 was located at the front contact position P7, moves upward and opens when the front drive contact portion 55 is pushed by the pallet 7 and moves to the front open position P6.

[0053] Thus, the front drive contact portion 55 contacts the rear surface 7b of the pallet 7 inserted through the opening 25 at the front contact position P7, which is before the front open position P6, and moves in the width direction (rightward) intersecting the front-to-back direction of movement of the pallet 7 as the pallet 7 moves to the side surface of the pallet 7. The drive link mechanism 45 is connected to the front drive contact portion 55 and the shutter 42, and moves the shutter 42 so that the shutter 42 opens when the front drive contact portion 55 moves in the width direction (rightward). In other words, the shutter drive unit 43 has the front drive contact portion 55 and the drive link mechanism 45, and opens the shutter 42 when the pallet 7 inserted through the opening 25 reaches the front open position P6 in front of the shutter 42.

[0054] In Figure 7(a), when the pallet 7, whose front surface 7f is in contact with the second rear drive contact portion 57 at the second rear contact position P2, is moved further forward, the second rear drive contact portion 57 moves to the right (in the width direction intersecting the front-to-back direction of the pallet's movement) and moves to the right side surface 7r of the pallet 7 (see Figure 15(b)). When the second rear drive contact portion 57 moves to the right side surface 7r of the pallet 7, the shutter 42 is opened approximately halfway (half-open).

[0055] In Figure 7(a), when the pallet 7, whose front surface 7f is in contact with the first rear drive contact portion 56 at the first rear contact position P3, is moved further forward, the first rear drive contact portion 56 moves to the right (in the width direction intersecting the front-to-back direction of the pallet's movement) and moves to the right side surface 7r of the pallet 7. The position where the first rear drive contact portion 56 has moved to the right side surface 7r of the pallet 7 is referred to as the rear open position P4 (see Figure 16(a)). That is, when the shutter 42, which is in a half-open state with the first rear drive contact portion 56 at the first rear contact position P3, moves upward and becomes fully open when the first rear drive contact portion 56 is pushed by the pallet 7 and moves to the rear open position P4.

[0056] Thus, the second rear drive contact portion 57 contacts the front surface 7f of the pallet 7, which is pushed toward the opening 25 by the pallet moving portion 27, at the second rear contact position P2, which is later than the first rear contact position P3. Before the pallet 7 contacts the first rear drive contact portion 56, it moves in the width direction (rightward) to the side surface (right side surface 7r) of the pallet 7. The drive link mechanism 45 is also connected to the second rear drive contact portion 57, and moves the shutter 42 so that the shutter 42 opens when the second rear drive contact portion 57 moves in the width direction (rightward).

[0057] Furthermore, the first rear drive contact portion 56 contacts the front surface 7f of the pallet 7, which is pushed toward the opening 25 by the pallet moving portion 27, at a first rear contact position P3 which is later than the rear open position P4 on the pallet moving portion 27 side of the shutter 42. As the pallet 7 moves toward the rear open position P4, it moves in the width direction (rightward) to the side surface (right side surface 7r) of the pallet 7. The drive link mechanism 45 is connected to the first rear drive contact portion 56, and moves the shutter 42 so that the shutter 42 opens when the first rear drive contact portion 56 moves in the width direction (rightward).

[0058] Specifically, when the pallet 7 is pushed out from the rear towards the opening 25, the front surface 7f of the pallet 7 comes into contact with the second rear drive contact portion 57 at the second rear contact position P2 (Figure 15(a)). Further pushing out the pallet 7 causes the second rear drive contact portion 57 to move to the side of the pallet 7, causing the shutter 42 to be half-open, and the front surface 7f of the pallet 7 comes into contact with the first rear drive contact portion 56 at the first rear contact position P3 (Figure 15(b)). Further pushing out the pallet 7 moves the front surface 7f of the pallet 7 to the rear open position P4, causing the first rear drive contact portion 56 to move to the side of the pallet 7, causing the shutter 42 to be fully open (Figure 16(a)).

[0059] Thus, the pallet moving unit 27 pushes the pallet 7 in two stages: a first stage in which the pallet 7 pushes the second rear drive contact part 57 (from the second rear contact position P2 to the first rear contact position P3), and a second stage in which the pallet 7 pushes the first rear drive contact part 56 (from the first rear contact position P3 to the rear open position P4). The direction of the repulsive force that the pallet 7 receives from the second rear drive contact part 57 in the first stage, and the direction of the repulsive force that the pallet 7 receives from the first rear drive contact part 56 in the second stage, are at a large angle from the direction in which the pallet moving unit 27 pushes the pallet 7. This configuration makes it possible to reduce the force with which the pallet moving unit 27 pushes the pallet 7, that is, the force required to push up the shutter 42.

[0060] Next, with reference to Figures 8 and 9, the configuration and function of the lock link mechanism 60 provided by the lock mechanism 44 will be described. Figure 8(a) is a cross-sectional view of the CC in Figure 8(b). Figure 9(a) is a cross-sectional view of the DD in Figure 9(b). Figures 8 and 9 show the shutter 42 in the closed state. For convenience, the lower part of the shutter 42 is omitted in Figures 8 and 9. In Figures 8(a) and 9(a), pins 41 whose position is fixed relative to the supply unit 24 are shown as dotted circles, and pins 41 whose position is not fixed are shown as white circles.

[0061] In Figures 8 and 9, a bracket 61 is fixed to the right side of the left shutter retaining member 46L so as to extend rearward from the rear surface of the left shutter retaining member 46L. The locking mechanism 44 comprises a locking member 62 that fixes the position of the bracket 61 so that the closed shutter 42 does not open, and a locking link mechanism 60. The locking link mechanism 60 comprises a fifth link member 63 and a sixth link member 64. The fifth link member 63 and the sixth link member 64 are plate-shaped members formed from a hard material such as metal.

[0062] One end (front end) of the fifth link member 63 is connected to the floor plate 34 by a pin 41 having a rotation axis around the Z axis. The pin 41 connecting the fifth link member 63 and the floor plate 34 constitutes a seventh node N7 whose position is fixed relative to the floor plate 34 (supply section 24).

[0063] In Figures 8 and 9, the sixth link member 64 is positioned behind the fifth link member 63. Furthermore, the sixth link member 64 is positioned at a higher height than the fifth link member 63. One end (rear end) of the sixth link member 64 is connected to the floor plate 34 by a pin 41 having a rotation axis around the Z-axis. The pin 41 connecting the sixth link member 64 and the floor plate 34 constitutes an eighth node N8 whose position is fixed relative to the floor plate 34 (supply section 24). An elongated hole 64a is formed at the other end (front end) of the sixth link member 64, extending vertically through it.

[0064] The other end (rear end) of the fifth link member 63 is connected to the other end (front end) of the sixth link member 64 by a pin 41 that has a rotation axis around the Z axis and passes through the elongated hole 64a at the other end of the sixth link member 64. The pin 41 connecting the fifth link member 63 and the sixth link member 64 constitutes the ninth node N9.

[0065] In Figures 8 and 9, a locking member 62 is fixed to the upper surface of the sixth link member 64. The locking member 62 is a plate-shaped member made of a hard material such as metal, extending upward from the sixth link member 64, and has a projection 62a extending to the right (inward) at its upper part. When the projection 62a of the locking member 62 is positioned above the bracket 61 fixed to the left shutter holding member 46L, the closed shutter 42 is fixed so as not to open (Figure 8).

[0066] When the fifth link member 63 rotates to the left (outward) around the seventh node N7 as its axis of rotation, the ninth node N9 moves to the left. This causes the sixth link member 64 to rotate to the left (outward) around the eighth node N8 as its axis of rotation. When the sixth link member 64 rotates to the left, the locking member 62 positioned on the upper surface of the sixth link member 64 moves to the left (outward). This causes the protruding portion 62a of the locking member 62 to disengage from above the bracket 61, releasing the shutter 42 (Figure 9). Conversely, when the fifth link member 63 rotates to the right (inward), the ninth node N9 moves to the right, causing the sixth link member 64 to rotate to the right (inward). When the sixth link member 64 rotates to the right, the protruding portion 62a of the locking member 62 moves above the bracket 61, fixing the shutter 42 in place so that it does not open (Figure 8).

[0067] In Figures 8 and 9, a front locking contact portion 65 having a roller with a rotation axis around the Z axis is positioned on the right side (inside) of the fifth link member 63. The front locking contact portion 65 is connected to the fifth link member 63 via a front connecting member 68. A rear locking contact portion 66 having a roller with a rotation axis around the Z axis is positioned on the right side (inside) of the sixth link member 64. The rear locking contact portion 66 is connected to the sixth link member 64 via a rear connecting member 69. Behind the rear locking contact portion 66, a rear roller 67 having a rotation axis around the Z axis is positioned on the floor plate 34. The rear roller 67 is fixed in a position to contact the side surface of the pallet 7 that is inserted into and removed from the supply unit 24.

[0068] In Figure 8(a), with the closed shutter 42 fixed, the front lock contact portion 65 is located at the front lock contact position P8, which contacts the rear surface 7b of the pallet 7 inserted through the opening 25 (see Figure 19(a)). The front lock contact position P8 is set further forward than the front contact position P7 (see Figures 19(a) to 19(b)). The rear lock contact portion 66 is located at the rear lock contact position P1, which contacts the front surface 7f of the pallet 7 as it is pushed out from the rear toward the opening 25 by the pallet moving portion 27 (see Figure 14(b)). The rear lock contact position P1 is set further back than the first rear contact position P3 (see Figures 14(a) to 15(b)).

[0069] In Figure 9(a), when the pallet 7, whose rear surface 7b is in contact with the front lock contact portion 65 at the front lock contact position P8, is pushed further backward, the front lock contact portion 65 moves to the left (in the width direction intersecting the front-to-back direction of the pallet's movement) and moves to the side of the pallet 7. In other words, the front lock contact portion 65 moves to the side of the pallet 7 before the rear surface of the pallet 7 reaches the front open position P6 (see Figures 19(a) to 20(a)). That is, the shutter 42, which was fixed with the front lock contact portion 65 at the front lock contact position P8, is released before the front lock contact portion 65 is pushed by the pallet 7 and moves to the front open position P6.

[0070] Thus, the front locking contact portion 65 contacts the rear surface 7b of the pallet 7 inserted through the opening 25 at the front locking contact position P8, which is earlier than the front open position P6, and moves in the width direction (leftward) to the side of the pallet 7 before the pallet 7 moves to the front open position P6. The locking link mechanism 60 is connected to the front locking contact portion 65 and the locking member 62, and moves the locking member 62 so that the shutter 42 is released when the front locking contact portion 65 moves in the width direction (leftward). In other words, the locking mechanism 44 has a locking member 62, a front locking contact portion 65, and a locking link mechanism 60, and releases the shutter 42 before the rear surface 7b of the pallet 7 inserted through the opening 25 moves to the front open position P6.

[0071] In Figure 9(a), when the pallet 7, whose front surface 7f is in contact with the rear lock contact portion 66 at the rear lock contact position P1, is moved further forward, the rear lock contact portion 66 moves to the left (in the width direction intersecting the front-to-back direction of the pallet's movement) and moves to the side of the pallet 7. In other words, the rear lock contact portion 66 moves to the side of the pallet 7 before the front surface of the pallet 7 reaches the rear open position P4 (see Figures 14(b) to 16(a)). That is, the shutter 42, which was fixed with the rear lock contact portion 66 at the rear lock contact position P1, is released before the rear lock contact portion 66 is pushed by the pallet 7 and moves to the rear open position P4.

[0072] Thus, the rear lock contact portion 66 contacts the front surface 7f of the pallet 7, which is pushed toward the opening 25 by the pallet moving portion 27 at the rear lock contact position P1, which is later than the rear open position P4, and moves in the width direction (leftward) to the side surface of the pallet 7 before the pallet 7 moves to the rear open position P4. The lock link mechanism 60 is connected to the front lock contact portion 65, the rear lock contact portion 66 and the locking member 62. When the front lock contact portion 65 moves in the width direction (leftward), the locking member 62 moves to release the shutter 42, and when the rear lock contact portion 66 moves in the width direction (leftward), the locking member 62 moves to release the shutter 42.

[0073] In other words, the locking mechanism 44 has a locking member 62, a front locking contact portion 65, a rear locking contact portion 66, and a locking link mechanism 60, and releases the shutter 42 before the rear surface of the pallet 7 inserted through the opening 25 moves to the front open position P6, and releases the shutter 42 before the front surface 7f of the pallet 7 pushed toward the opening 25 by the pallet moving portion 27 moves to the rear open position P4.

[0074] In Figures 6, 8, and 10, the plate 35 that supports the pallet 7 passing through the supply section 24 from below has notches 35a formed in it at the positions of the drive link mechanism 45 and the lock link mechanism 60. The front drive contact portion 55, the first rear drive contact portion 56, the second rear drive contact portion 57, the front lock contact portion 65, the rear lock contact portion 66, and the rear roller 67 are located within the notches 35a of the plate 35 in a plan view.

[0075] Furthermore, the height H1 of the lower surfaces of the front drive contact portion 55, the first rear drive contact portion 56, the second rear drive contact portion 57, the front lock contact portion 65, the rear lock contact portion 66, and the rear roller 67 is lower than the height H2 of the lower surface of the pallet 7 (height of the upper surface of the plate 35) passing through the supply section 24. As a result, the front drive contact portion 55, the first rear drive contact portion 56, the second rear drive contact portion 57, the front lock contact portion 65, the rear lock contact portion 66, and the rear roller 67 can contact the front 7f, rear 7b, and sides of the pallet 7 more reliably. Note that the height H1 of the lower surfaces of the front drive contact portion 55, the first rear drive contact portion 56, the second rear drive contact portion 57, the front lock contact portion 65, the rear lock contact portion 66, and the rear roller 67 does not need to be the same.

[0076] In Figures 5 and 14, in order to open the closed shutter 42, at least the front drive contact portion 55 and the front lock contact portion 65 must be moved in the width direction (outward). On the other hand, in the supply section 24, the front drive contact portion 55 of the drive link mechanism 45 and the front lock contact portion 65 of the lock link mechanism 60 are positioned apart in the width direction (X-axis direction). As a result, an operator cannot reach one hand through the opening 25 and touch both the front drive contact portion 55 and the front lock contact portion 65 simultaneously. In other words, when the shutter 42 is closed, an operator cannot open the shutter 42 even if they insert one hand through the opening 25. Therefore, without stopping the movable parts of the tray feeder 20 or the component mounting device 1, an operator can safely perform pallet exchange work by opening the cover 26 and loading and unloading pallets 7 into and out of the tray feeder 20 through the opening 25.

[0077] Next, with reference to Figure 11, the configuration of the control system of the component mounting device 1 equipped with the tray feeder 20 will be described. The control device 70 of the component mounting device 1 is connected to a substrate transport mechanism 3, a tape feeder 5, a mounting head 10, a head movement mechanism 11, a component recognition camera 12, a substrate recognition camera 13, a touch panel 16, and the tray feeder 20. The tray feeder 20 is equipped with a pallet movement unit 27 having a drawer mechanism 28 and a lifting mechanism 29, a control panel 32, a feeder control unit 33, an opening / closing detection unit 37, and a cover fixing mechanism 38. When the tray feeder 20 is mounted on the component mounting device 1, the feeder control unit 33 of the tray feeder 20 becomes capable of sending and receiving various data and commands with the control device 70.

[0078] The control device 70 includes an assembly memory unit 71 and an assembly control unit 72. The assembly memory unit 71 is a memory device that stores assembly data and the like. The assembly data stores information necessary for the assembly work, such as the size of the board B, the type of component D to be mounted and its mounting point (XY coordinates), the size of the component D (length, width, height), the position of the pallet 7 stored in the tray feeder 20, and information about the component D stored in the tray 6 held by the pallet 7.

[0079] In Figure 11, the mounting control unit 72 controls the mounting head 10 and the head movement mechanism 11 based on the mounting data stored in the mounting memory unit 71 to pick up components D from the tape feeder 5 or tray feeder 20 using the nozzle 15 and mount the components D on the mounting points of the substrate B. When the components D in the tray 6 held by the pallet 7 supplied to the component pick-up position P run out during the mounting operation, the mounting control unit 72 sends a command to the feeder control unit 33 to execute a pallet storage operation so that the empty pallet 7 is stored in the empty storage units 22, 22U. Next, the mounting control unit 72 sends a command to the feeder control unit 33 to execute a pallet supply operation so that a replacement pallet 7 holding the tray 6 containing components D is supplied from the storage units 22, 22U to the component pick-up position P.

[0080] Furthermore, the mounting control unit 72 and the feeder control unit 33 perform a pallet exchange operation, which involves using the replenishment unit 24 to replace a pallet 7 stored in the tray feeder 20 with a new pallet 7, according to the mounting data or instructions entered by the operator via the touch panel 16 or control panel 32. The mounting control unit 72 and the feeder control unit 33 work together to perform the pallet exchange operation. Hereinafter, the control performed jointly by the mounting control unit 72 and the feeder control unit 33 may be simply referred to as control by the mounting control unit 72 or control by the feeder control unit 33. The mounting control unit 72 and the feeder control unit 33 perform the pallet exchange operation without interrupting the mounting work.

[0081] Next, following the flow chart in Figures 12 and 13, and referring to Figures 14 to 22, a pallet exchange method using the replenishment unit 24 in a component mounting device 1 equipped with a tray feeder 20 will be described. In Figure 12, when it is time to exchange a pallet (Yes in ST1), the feeder control unit 33 determines whether the cover 26 is closed or not based on the detection result of the opening / closing detection unit 37 (ST2). If the cover 26 is open (No in ST2), the feeder control unit 33 displays "Close the cover" on the control panel 32 or touch panel 16 (ST3). If the cover 26 is closed (Yes in ST2), the feeder control unit 33 controls the pallet moving unit 27 to move (unload) the designated pallet 7A from the rear to the replenishment unit 24 (ST4: Pallet unloading process).

[0082] In Figure 13, during the pallet unloading process (ST4), the feeder control unit 33 controls the pallet moving unit 27 to move the pallet 7A to be unloaded from the parts retrieval position P or storage units 22, 22U to the top of the drawer mechanism 28 (ST11). Next, the feeder control unit 33 controls the lifting mechanism 29 to move the drawer mechanism 28 to the height of the replenishment unit 24 (ST12). Then, the feeder control unit 33 controls the drawer mechanism 28 to push the pallet 7A to be unloaded toward the opening 25 at a first moving speed (ST13) (arrow c1 in Figure 14(a)).

[0083] Next, the feeder control unit 33 controls the pull-out mechanism 28 to change the movement speed of the pallet 7A to a second movement speed that is slower than the first movement speed (decelerate) before the front surface 7f of the pallet 7A, which is moving forward at the first movement speed, comes into contact with the rear lock contact part 66 at the rear lock contact position P1 (Figure 14(b)) (ST14). Next, the feeder control unit 33 controls the pull-out mechanism 28 to change the movement speed of the pallet 7A to the first movement speed (accelerate) when the front surface 7f of the pallet 7A, which is moving at the second movement speed, passes the rear open position P4 (Figure 16(a)) (Yes in ST15).

[0084] Specifically, the pallet 7A decelerates to the second moving speed before its front surface 7f contacts the rear lock contact portion 66 (Figure 14(b)). Then, while the front surface 7f of the pallet 7A moves from the rear lock contact position P1 to the second rear contact position P2 (arrow c3 in Figure 15(a)), the rear lock contact portion 66 moves to the left to the left side surface 7l of the pallet 7A, releasing the lock of the closed shutter 42. Furthermore, while the front surface 7f of the pallet 7A moves from the second rear contact position P2 to the first rear contact position P3 (arrow c4 in Figure 15(b)), the second rear drive contact portion 57 moves to the right to the right side surface 7r of the pallet 7A, leaving the shutter 42 partially open.

[0085] Furthermore, while the front surface 7f of the pallet 7A moves from the first rear contact position P3 to the rear open position P4 (arrow c5 in Figure 16(a)), the first rear drive contact part 56 moves to the right to the right side surface 7r of the pallet 7A, and the shutter 42 opens. Once the front surface 7f of the pallet 7A passes the rear open position P4, the pallet 7A accelerates to the first moving speed.

[0086] In this way, the front surface 7f of the pallet 7A contacts the rear lock contact portion 66, the second rear drive contact portion 57, and the first rear drive contact portion 56 at a second movement speed that is slower than the first movement speed. Therefore, the impact when the pallet 7A contacts each of the rear lock contact portion 66, the second rear drive contact portion 57, and the first rear drive contact portion 56 is small, and the impact generated when contacting them prevents the parts D from flying out of the tray 6.

[0087] In Figure 13, the feeder control unit 33 controls the pull-out mechanism 28 to stop pushing out the pallet 7A when the front surface 7f of the pallet 7A reaches the insertion / removal position P5 (Yes in ST17) (ST18) (Figure 16(b)). The insertion / removal position P5 is the position where the front surface 7f of the pallet 7A is between the front drive contact part 55 and the cover 26. Next, the feeder control unit 33 controls the pallet movement part 27 to release the engagement part 28a of the pull-out mechanism 28 from holding the notch 7a of the pallet 7A (ST19). This makes it possible for the worker to remove the pallet 7A.

[0088] Thus, the feeder control unit 33, which controls the pallet moving unit 27, controls the pallet moving unit 27 to slow down the movement speed of the pallet 7A before the pallet 7A being pushed out toward the opening 25 by the pallet moving unit 27 comes into contact with the rear lock contact portion 66. In other words, the feeder control unit 33 controls the pallet moving unit 27 to slow down the movement speed of the pallet 7A before the pallet 7A being pushed out toward the opening 25 by the pallet moving unit 27 comes into contact with the second rear drive contact portion 57 at the second rear contact position P2 (Figure 15(a)) and before it comes into contact with the first rear drive contact portion 56 at the first rear contact position P3 (Figure 15(b)).

[0089] Furthermore, the feeder control unit 33 controls the pallet movement unit 27 to increase the movement speed when the pallet 7A, which has been moved at a slower speed, passes the rear open position P4. This suppresses an increase in cycle loss and prevents the parts D stored in the tray 6 from flying out of the tray 6 due to the impact generated when the pallet 7A contacts the rear lock contact part 66, the second rear drive contact part 57, and the first rear drive contact part 56.

[0090] In Figure 12, the feeder control unit 33 then controls the cover fixing mechanism 38 to release the cover 26 from its fixing (ST5). Next, the feeder control unit 33 displays on the control panel 32 or touch panel 16 that "The pallet is ready to be removed" (ST6). The operator then opens the cover 26, removes the pallet 7A to be removed from the supply unit 24, and inserts a new pallet 7B into the supply unit 24 (ST7: Pallet removal and insertion process).

[0091] As the worker moves the pallet 7A forward, when the rear surface 7b of the pallet 7A moves from the front open position P6 to the front contact position P7 (arrow d1 in Figure 17(a), arrow d2 in Figure 17(b)), the front drive contact part 55 moves to the left and the shutter 42 closes (Figure 17(b)). Furthermore, when the rear surface 7b of the pallet 7A moves to the front lock contact position P8 (arrow d3 in Figure 18(a)), the front lock contact part 65 moves to the right and the closed shutter 42 is fixed in place. When the worker moves the pallet 7 further (arrow d4 in Figure 18(b)), the pallet 7A is removed from the opening 25.

[0092] As the operator inserts the new pallet 7B, when the rear surface 7b of the pallet 7B moves from the front lock contact position P8 to the front contact position P7 (arrow e1 in Figure 19(a), arrow e2 in Figure 19(b)), the front lock contact part 65 moves to the left and the shutter 42 is released. Furthermore, when the rear surface 7b of the pallet 7B moves to the front open position P6 (arrow e3 in Figure 20(a)), the front drive contact part 55 moves to the right and the shutter 42 opens (Figure 20(a)). The operator then pushes the pallet 7B backward from under the opened shutter 42, moving the pallet 7B to the insertion / removal position P5 (arrow e4 in Figure 20(b)). After that, the operator closes the cover 26.

[0093] In Figure 12, when the feeder control unit 33 detects that the cover 26 has been closed based on the detection result of the opening / closing detection unit 37 (Yes in ST8), it controls the cover fixing mechanism 38 to fix the cover 26 to the cover fixing mechanism 38 (ST9). Next, the feeder control unit 33 controls the pallet moving unit 27 to take out a new pallet 7B from the replenishment unit 24 and move it to the parts retrieval position P or the empty storage units 22, 22U (ST10).

[0094] As the pallet moving unit 27 moves the new pallet 7B backward, when the front surface 7f of the pallet 7B moves from the rear open position P4 to the first rear contact position P3 (arrow f1 in Figure 21(a), arrow f2 in Figure 21(b)), the first rear drive contact part 56 moves to the left and the shutter 42 closes to a half-open state (Figure 21(b)). Furthermore, when the front surface 7f of the pallet 7B moves from the first rear contact position P3 to the second rear contact position P2 (arrow f3 in Figure 22(a)), the second rear drive contact part 57 moves to the left and the shutter 42 closes (Figure 21(b)). Furthermore, when the front surface 7f of the pallet 7B moves from the second rear contact position P2 to the rear lock contact position P1 (arrow f4 in Figure 22(b)), the rear lock contact part 66 moves to the right and the closed shutter 42 is fixed in place.

[0095] Next, with reference to Figures 23 and 24, another embodiment of the tray feeder (hereinafter simply referred to as "tray feeder 20A") will be described. The configuration of the shutter drive unit 43A that opens and closes the shutter 42 provided in the replenishment unit 24A differs from the shutter drive unit 43 of the tray feeder 20, which has a drive link mechanism 45. Hereafter, the same reference numerals are used for parts that are the same as those in tray feeder 20, and detailed explanations are omitted.

[0096] The shutter drive unit 43A includes a right front detection unit 80R and a left front detection unit 80L for detecting when the pallet 7 reaches the front open position P6, a right rear detection unit 81R and a left rear detection unit 81L for detecting when the pallet 7 reaches the rear open position P4, and a shutter opening / closing unit 82 for opening and closing the shutter 42 by changing the position or orientation of the shutter 42. The shutter opening / closing unit 82 is configured, for example, with a linear cylinder, a linear motor, a ball screw and a motor. The distance between the right front detection unit 80R and the left front detection unit 80L is greater than the size of one of the operator's hands.

[0097] Hereafter, unless otherwise necessary, the right front detection unit 80R and the left front detection unit 80L will simply be referred to as "front detection unit 80". Similarly, unless otherwise necessary, the right rear detection unit 81R and the left rear detection unit 81L will simply be referred to as "rear detection unit 81". In other words, the shutter drive unit 43A has a plurality of front detection units 80 and a plurality of rear detection units 81. The front detection units 80, rear detection units 81 and shutter opening / closing unit 82 are connected to the feeder control unit 33A (Figure 25) provided in the tray feeder 20A.

[0098] In Figures 23 and 25, when both the right front detection unit 80R and the left front detection unit 80L detect the pallet 7, the feeder control unit 33A controls the shutter opening / closing unit 82 to open the shutter 42 (arrow g). In other words, the shutter drive unit 43A opens the shutter 42 when all the front detection units 80 detect the pallet 7. Also, when both the right rear detection unit 81R and the left rear detection unit 81L detect the pallet 7, the feeder control unit 33A controls the shutter opening / closing unit 82 to open the shutter 42 (arrow g). In other words, the shutter drive unit 43A opens the shutter 42 when all the rear detection units 81 detect the pallet 7.

[0099] Specifically, the feeder control unit 33A opens the shutter 42 only when the right front detection unit 80R and the left front detection unit 80L simultaneously detect the pallet 7. For example, if the right front detection unit 80R detects the pallet 7, but the left front detection unit 80L does not detect the pallet 7, the feeder control unit 33A does not open the shutter 42. As a result, even if the right front detection unit 80R detects a hand inserted by an operator through the opening 25, the left front detection unit 80L does not detect the hand, and therefore the shutter 42 does not open. Note that the number of front detection units 80 is not limited to two, but may be three or more.

[0100] In Figures 23 and 25, the feeder control unit 33A controls the shutter opening / closing unit 82 to close the shutter 42 after the front detection unit 80 detects the pallet 7 and opens the shutter 42, and when the front detection unit 80 and the rear detection unit 81 no longer detect the pallet 7 (arrow h). Also, the feeder control unit 33A controls the shutter opening / closing unit 82 to close the shutter 42 after the rear detection unit 81 detects the pallet 7 and opens the shutter 42, and when the rear detection unit 81 and the front detection unit 80 no longer detect the pallet 7 (arrow h).

[0101] Next, with reference to Figure 25, the configuration of the control system of the component mounting device 1A equipped with the tray feeder 20A will be described. The control device 70A of the component mounting device 1A includes a mounting memory unit 71 and a mounting control unit 72A. The mounting control unit 72A and the feeder control unit 33A perform pallet exchange work using the replenishment unit 24A according to the mounting data or according to instructions entered by the operator from the touch panel 16 or control panel 32.

[0102] Next, following the flow chart from Figures 26 to 29 and referring to Figures 30 to 34, a pallet exchange method using the replenishment unit 24A in a component mounting device 1A equipped with a tray feeder 20A will be described.Hereafter, the same reference numerals will be used for the same steps as in the pallet exchange method in component mounting device 1, and detailed explanations will be omitted.In Figure 26, when it is time to exchange a pallet (Yes in ST1) and the cover 26 is closed (Yes in ST2), the feeder control unit 33A controls the pallet moving unit 27 to execute a pallet unloading operation that moves (unloads) the designated pallet 7A from the rear to the replenishment unit 24A (ST21: pallet unloading process).

[0103] In Figure 27, during the pallet unloading process (ST21), the feeder control unit 33A controls the pallet moving unit 27 to move the pallet 7A to be unloaded up to the top of the drawer mechanism 28 (ST11), and moves the drawer mechanism 28 to the height of the replenishment unit 24A (ST12). Next, the feeder control unit 33A controls the drawer mechanism 28 to move the pallet 7A toward the opening 25 at a predetermined speed to the rear open position P4 (ST31) (arrow i1 in Figure 30(a)).

[0104] Next, when all rear detection units 81 (right rear detection unit 81R, left rear detection unit 81L) detect the pallet 7A (Yes in ST32), the feeder control unit 33A controls the shutter opening / closing unit 82 to open the shutter 42 (ST33) (arrow i2 in Figure 30(b)). Once the shutter 42 is open, the feeder control unit 33A controls the pull-out mechanism 28 to move the pallet 7A toward the opening 25 to the pull-out position P5 at a predetermined speed (ST34) (arrow i3 in Figure 31(a)).

[0105] In Figure 26, the feeder control unit 33A then causes the cover fixing mechanism 38 to release the cover 26 (ST5), and displays on the control panel 32 or touch panel 16 that "the pallet is ready to be removed" (ST6). Next, the operator removes the pallet 7A to be removed from the supply unit 24A and performs a pallet replacement operation by inserting a new pallet 7B into the supply unit 24A (ST22: pallet removal and insertion process).

[0106] In Figure 28, during the pallet removal and insertion process (ST22), the worker first opens the cover 26 of the supply unit 24A (ST41) (arrow j1 in Figure 31(b)). Next, the worker removes the pallet 7A to be transported from the opening 25 (ST42) (arrow j2 in Figure 32(a)).

[0107] During the process of removing the pallet 7A from the opening 25, when all the front detection units 80 (right front detection unit 80R, left front detection unit 80L) stop detecting the pallet 7A (No in ST43), the feeder control unit 33A controls the shutter opening / closing unit 82 to close the shutter 42 (ST44) (arrow j3 in Figure 32(a)). That is, after the rear detection unit 81 detects the pallet 7A (Yes in ST32) and opens the shutter 42 (ST33), the shutter opening / closing unit 82 closes the shutter 42 (ST44) when the front detection unit 80 stops detecting the pallet 7A (No in ST43).

[0108] In Figure 28, the worker then inserts the new pallet 7B through the opening 25 to the front open position P6 (ST45) (arrow j4 in Figure 32(b)). That is, the worker inserts the pallet 7B through the opening 25 and moves it in front of the closed shutter 42. At this time, the shutter 42 is closed, and the worker can safely replace the pallet 7A with the new pallet 7B without stopping the mounting work by the component mounting device 1A.

[0109] Next, when all front detection units 80 (right front detection unit 80R, left front detection unit 80L) detect the pallet 7B (Yes in ST46), the feeder control unit 33A controls the shutter opening / closing unit 82 to open the shutter 42 (ST47) (arrow j5 in Figure 32(b)). Once the shutter 42 is open, the operator moves (inserts) the pallet 7B to the loading / unloading position P5 (ST48) (arrow j6 in Figure 33(a)). Then the operator closes the cover 26 (ST49) (arrow j7 in Figure 33(b)).

[0110] In Figure 26, the feeder control unit 33A then detects that the cover 26 has been closed based on the detection result of the opening / closing detection unit 37 (Yes in ST8), and then fixes the cover 26 to the cover fixing mechanism 38 (ST9). Next, the feeder control unit 33A controls the pallet moving unit 27 to take a new pallet 7B from the replenishment unit 24A and execute a pallet loading operation to move it to the parts retrieval position P or an empty storage unit 22, 22U (ST23: pallet loading process).

[0111] In Figure 29, during the pallet loading process (ST23), the feeder control unit 33A controls the drawer mechanism 28 to hold the notch 7a of the pallet 7B in the engaging portion 28a, and moves the pallet 7B up to the top of the drawer mechanism 28 (ST51) (arrow k1 in Figure 34(a), arrow k2 in Figure 34(b)).

[0112] In the process in which the drawer mechanism 28 moves the pallet 7B backward, when all rear detection units 81 (right rear detection unit 81R, left rear detection unit 81L) stop detecting the pallet 7B (No in ST52), the feeder control unit 33A controls the shutter opening / closing unit 82 to close the shutter 42 (ST53) (arrow k3 in Figure 34(a)). That is, after the front detection unit 80 detects the pallet 7B (Yes in ST46) and opens the shutter 42 (ST47), the shutter opening / closing unit 82 closes the shutter 42 (ST53) when the rear detection unit 81 stops detecting the pallet 7B (No in ST52).

[0113] In Figure 29, the feeder control unit 33A then controls the lifting mechanism 29 to move the extraction mechanism 28 to the height of the parts extraction position P or the empty storage compartments 22, 22U (ST54). The feeder control unit 33A then controls the extraction mechanism 28 to move the new pallet 7B to the parts extraction position P or the empty storage compartments 22, 22U (ST55).

[0114] As explained above, this disclosure discloses the following technical concepts.

[0115] (Technology 1) A tray feeder 20, 20A is attached to a component mounting device 1, 1A 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 the components D are removed by the mounting head 10. Storage units 22, 22U for storing pallets 7 that hold tray 6, A replenishment unit 24, 24A is provided in a separate area from the storage units 22, 22U, and is capable of loading and unloading pallets 7 into and from tray feeders 20, 20A. The system includes a pallet moving unit 27 that removes pallet 7 from supply units 24, 24A and moves it to a parts removal position P or storage unit 22, 22U, and also moves pallet 7 back to supply unit 24, 24A. Supply units 24 and 24A are, An opening 25 for loading and unloading pallets 7 from outside the tray feeders 20, 20A to the supply sections 24, 24A, A shutter 42 is located between the opening 25 and the pallet moving section 27 and opens and closes, It has shutter drive units 43, 43A that open and close the shutter 42, The shutter drive units 43, 43A open the shutter 42 when the pallet 7 inserted through the opening 25 reaches the front open position P6 in front of the shutter 42, in the tray feeder 20, 20A.

[0116] This allows pallets 7 to be inserted into and removed from supply units 24 and 24A without interrupting the assembly work.

[0117] (Technology 2) The shutter drive unit 43 is A front drive contact portion 55 that contacts the rear surface 7b of the pallet 7 inserted through the opening 25 at a front contact position P7 prior to the front open position P6, and moves in a width direction intersecting the direction of movement of the pallet 7 as the pallet 7 moves to the side surface of the pallet 7, The tray feeder 20 according to Technical Reference 1, having a drive link mechanism 45 connected to a front drive contact portion 55 and a shutter 42, which moves the shutter 42 so that the shutter 42 opens when the front drive contact portion 55 moves in the width direction.

[0118] This allows the worker to open the shutter 42 by pushing the pallet 7 through the opening 25.

[0119] (Technology 3) The shutter drive unit 43 is The device further includes a first rear drive contact portion 56 that, at a first rear contact position P3 which is after the rear opening position P4 on the side of the pallet moving portion 27 that is on the side of the pallet moving portion 27, contacts the front surface 7f of the pallet 7 that is pushed toward the opening 25 by the pallet moving portion 27, and moves in the width direction to move toward the side surface of the pallet 7 as the pallet 7 moves toward the rear opening position P4. The tray feeder 20 described in Technical Reference 2, wherein the drive link mechanism 45 is connected to a first rear drive contact portion 56, and moves the shutter 42 so that the shutter 42 opens when the first rear drive contact portion 56 moves in the width direction.

[0120] This allows the shutter 42 to be opened by the force with which the pallet moving unit 27 pushes the pallet 7 toward the opening 25.

[0121] (Technology 4) The shutter drive unit 43 is The device further includes a second rear drive contact portion 57 that, at a second rear contact position P2 which is later than the first rear contact position P3, contacts the front surface 7f of the pallet 7 as it is pushed toward the opening 25 by the pallet moving portion 27, and moves in the width direction to the side surface of the pallet 7 before the pallet 7 contacts the first rear drive contact portion 56, The tray feeder 20 described in Technical Reference 3, wherein the drive link mechanism 45 is connected to the second rear drive contact portion 57, and moves the shutter 42 so that the shutter 42 opens when the second rear drive contact portion 57 moves in the width direction.

[0122] This reduces the force required for the pallet moving unit 27 to push out the pallet 7.

[0123] (Technology 5) The tray feeder 20 according to Technical Reference 4, wherein the second rear drive contact portion 57, before contact with the pallet 7, is located further outward in the width direction than the first rear drive contact portion 56.

[0124] This reduces the force required for the pallet moving unit 27 to push out the pallet 7.

[0125] (Technology 6) It has a control unit (feeder control unit 33) that controls the pallet moving unit 27, The control unit is A tray feeder 20 according to Art 3 to 5, wherein the pallet moving unit 27 controls the pallet moving unit 27 to slow down the moving speed of the pallet 7 before the pallet 7 being pushed toward the opening 25 comes into contact with the first rear drive contact unit 56.

[0126] This reduces the impact when the pallet 7, which is moving toward the opening 25, comes into contact with the first rear drive contact part 56, thereby preventing the parts D on the tray 6 from flying out.

[0127] (Technology 7) It has a control unit (feeder control unit 33) that controls the pallet moving unit 27, The control unit is A tray feeder 20 according to Art 4 or 5, wherein the pallet moving unit 27 controls the pallet moving unit 27 to slow down the moving speed of the pallet 7 before the pallet 7 being pushed toward the opening 25 comes into contact with the second rear drive contact unit 57.

[0128] This reduces the impact when the pallet 7, which is moving toward the opening 25, comes into contact with the second rear drive contact part 57, thereby preventing the parts D on the tray 6 from flying out.

[0129] (Technology 8) The tray feeder 20 described in Technical References 2 to 7, wherein the height H1 of the lower surface of the front drive contact portion 55 is lower than the height H2 of the lower surface of the pallet 7 through which the replenishment portion 24 passes.

[0130] This ensures that the pallet 7 can be reliably brought into contact with the front drive contact portion 55.

[0131] (Technology 9) Supply Unit 24 is, It has a plate 35 that supports the passing pallet 7 from below and has a notch 35a formed therein. The tray feeder 20 described in Technical References 2 to 8, wherein the front drive contact portion 55 is located within the notch 35a of the plate 35 in a plan view.

[0132] This allows the plate 35 to support the pallet 7 from below, even near the front drive contact portion 55.

[0133] (Technology 10) Supply Unit 24 is, It is further equipped with a locking mechanism 44 that secures the closed shutter 42 so that it does not open. The locking mechanism 44 is The tray feeder 20 described in Art 2 to 8 releases the shutter 42 before the rear surface 7b of the pallet 7 inserted through the opening 25 moves to the front open position P6.

[0134] This prevents the worker from accidentally opening the closed shutter 42.

[0135] (Technology 11) The locking mechanism 44 is A locking member 62 that secures the closed shutter 42 so that it does not open, A front locking contact portion 65 that contacts the rear surface 7b of the pallet 7 inserted through the opening 25 before the front open position P6, and moves in the width direction to the side of the pallet 7 before the pallet 7 moves to the front open position P6, The tray feeder 20 according to Technical Reference 10, having a lock link mechanism 60 connected to a front lock contact portion 65 and a locking member 62, which moves the locking member 62 such that the shutter 42 is released when the front lock contact portion 65 moves in the width direction.

[0136] This allows the worker to release the shutter 42 by pushing the pallet 7 through the opening 25.

[0137] (Technology 12) The tray feeder 20 according to Technology 11, wherein the front drive contact portion 55 and the front lock contact portion 65 are arranged apart in the width direction.

[0138] This prevents the shutter 42 from opening by the worker simultaneously touching the front drive contact portion 55 and the front lock contact portion 65. Furthermore, even if the shutter 42 is open due to the worker simultaneously touching the front drive contact portion 55 and the front lock contact portion 65, it prevents the worker from reaching further inside.

[0139] (Technology 13) Supply Unit 24 is, It is further equipped with a locking mechanism 44 to prevent the closed shutter 42 from opening, The locking mechanism 44 is Before the rear surface 7b of the pallet 7 inserted through the opening 25 moves to the front open position P6, the shutter 42 is released. Furthermore, the tray feeder 20 according to technologies 3 to 8, wherein the shutter 42 is released before the front 7f of the pallet 7, which is pushed toward the opening 25 by the pallet moving unit 27, moves to the rear open position P4.

[0140] This allows the shutter 42 to be released when the pallet moving unit 27 pushes the pallet 7 toward the opening 25.

[0141] (Technology 14) The locking mechanism 44 is A locking member 62 that secures the closed shutter 42 so that it does not open, A front locking contact portion 65 that contacts the rear surface 7b of the pallet 7 inserted through the opening 25 before the front open position P6, and moves in the width direction to the side of the pallet 7 before the pallet 7 moves to the front open position P6, A rear locking contact portion 66 that contacts the front surface 7f of the pallet 7, which is pushed toward the opening 25 by the pallet moving portion 27 after the rear opening position P4, and moves in the width direction to the side surface of the pallet 7 before the pallet 7 moves to the rear opening position P4, A tray feeder 20 according to Technical Reference 13, having a lock link mechanism 60 connected to a front lock contact portion 65, a rear lock contact portion 66, and a locking member 62, wherein when the front lock contact portion 65 moves in the width direction, the locking member 62 moves to release the shutter 42, and when the rear lock contact portion 66 moves in the width direction, the locking member 62 moves to release the shutter 42.

[0142] This allows the force exerted by the pallet moving unit 27 pushing the pallet 7 toward the opening 25 to release the shutter 42 from its locking mechanism.

[0143] (Technology 15) It has a control unit (feeder control unit 33) that controls the pallet moving unit 27, The control unit is A tray feeder 20 according to Technical Reference 14, wherein the pallet moving unit 27 controls the pallet moving unit 27 so as to slow down the movement speed of the pallet 7 before the pallet 7 being pushed toward the opening 25 comes into contact with the rear locking contact unit 66.

[0144] This reduces the impact when the pallet 7, which is moving toward the opening 25, comes into contact with the rear lock contact portion 66, thereby preventing the parts D on the tray 6 from flying out.

[0145] (Technology 16) The control unit (feeder control unit 33) is A tray feeder 20 according to any one of technologies 6, 7, or 15, wherein when a pallet 7 whose movement speed has been slowed passes the rear open position P4, the pallet moving unit 27 is controlled to increase the movement speed.

[0146] This prevents parts D from falling out of tray 6 and reduces cycle loss by slowing down the movement speed of pallet 7.

[0147] (Technology 17) The tray feeder 20 according to any one of the technologies 14 to 16, wherein the front drive contact portion 55 and the front lock contact portion 65 are arranged apart in the width direction.

[0148] This prevents the shutter 42 from opening by the worker simultaneously touching the front drive contact portion 55 and the front lock contact portion 65. Furthermore, even if the shutter 42 is open due to the worker simultaneously touching the front drive contact portion 55 and the front lock contact portion 65, it prevents the worker from reaching further inside.

[0149] (Technology 18) The shutter drive unit 43A is A front detection unit 80 detects the pallet 7 when it reaches the front open position P6, It has a shutter opening / closing unit 82 that changes the position or orientation of the shutter 42 to open and close the shutter 42, The shutter opening / closing section 82 is The tray feeder 20A described in Technical Reference 1 opens the shutter 42 when the front detection unit 80 detects the pallet 7.

[0150] This allows the operator to open the shutter 42 by inserting the pallet 7 through the opening 25.

[0151] (Technology 19) The shutter drive unit 43A is It has multiple front detection units 80 (right front detection unit 80R, left front detection unit 80L), The shutter opening / closing section 82 is The tray feeder 20A described in Technical Reference 18 opens the shutter 42 when all front detection units 80 detect the pallet 7.

[0152] This prevents the shutter 42 from opening if the worker's hand or other body part is detected by a part of the front detection unit 80.

[0153] (Technology 20) The shutter drive unit 43A is It has a rear detection unit 81 that detects a pallet 7 that has been pushed toward the opening 25 by the pallet moving unit 27 and has reached the rear opening position P4 on the pallet moving unit 27 side of the shutter 42, The shutter opening / closing section 82 is The tray feeder 20A according to technology 18 or 19, wherein the rear detection unit 81 opens the shutter 42 when it detects the pallet 7.

[0154] This allows the shutter 42 to be opened by the pallet moving unit 27 pushing the pallet 7 toward the opening 25.

[0155] (Technology 21) The shutter opening / closing section 82 is After the front detection unit 80 detects the pallet 7 and opens the shutter 42, the rear detection unit 81 closes the shutter 42 when it no longer detects the pallet 7. Furthermore, the tray feeder 20A described in Technical Reference 20, wherein the rear detection unit 81 detects the pallet 7 and opens the shutter 42, and then the front detection unit 80 no longer detects the pallet 7, closes the shutter 42.

[0156] This allows the shutter 42 to be closed when the worker removes the pallet 7 from the opening 25 and when the pallet moving unit 27 removes the pallet 7 from the supply unit 24A.

[0157] (Technology 22) A component mounting apparatus 1,1A moves the pallet 7 from a storage unit 22,22U that stores a pallet 7 holding a tray 6 containing component D to a component removal position P, and removes the component D with a mounting head 10 and mounts it on a circuit board B, A separate area from the storage sections 22, 22U is provided, and the replenishment sections 24, 24A allow for the loading and unloading of pallets 7, The system includes a pallet moving unit 27 that removes pallet 7 from supply units 24, 24A and moves it to a parts removal position P or storage unit 22, 22U, and also moves pallet 7 back to supply unit 24, 24A. Supply units 24 and 24A are, An opening 25 for loading and unloading pallets 7 from outside the component mounting devices 1,1A to the supply units 24,24A, A shutter 42 is located between the opening 25 and the pallet moving section 27 and opens and closes, It has shutter drive units 43, 43A that open and close the shutter 42, The shutter drive units 43, 43A open the shutter 42 when the pallet 7 inserted through the opening 25 reaches the front open position P6 in front of the shutter 42, in the component mounting device 1, 1A.

[0158] This allows pallets 7 to be inserted into and removed from supply units 24 and 24A without interrupting the assembly work. [Industrial applicability]

[0159] The tray feeder and component mounting apparatus of this disclosure have the effect of allowing pallets to be loaded and unloaded from the supply section without stopping the mounting work, and are useful in the field of mounting components onto a substrate. [Explanation of Symbols]

[0160] 1. 1A Component Mounting Equipment 6 trays 7, 7A, 7B Palette 7b Rear 7f front 10 Mounting Head 20, 20A Tray Feeder 22, 22U storage compartment 24, 24A Supply Department 25 Opening 27 Pallet moving section 35 plates 35a Notch 37 Open / Close Detection Unit 42 shutters 43, 43A Shutter drive unit 44 Locking mechanism 45 Drive linkage mechanism 55 Front drive contact part 56 First rear drive contact part 57 Second rear drive contact part 60 Locking link mechanism 62 Locking member 65 Front lock contact portion 66 Rear lock contact part 80 Front detection unit 80L Left front detection unit 80R Right front detection unit 82 Shutter opening / closing mechanism B substrate D parts H1, H2 Height P Parts removal location P2 2nd rear contact position P3 1st rear contact position P4 Rear open position P6 Front open position P7 Front contact position

Claims

1. A tray feeder is mounted on a component mounting device that mounts components onto a circuit board using a mounting head, and 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 pallet that holds the tray, A supply unit is provided in a separate area from the storage unit, and is capable of loading and unloading the pallets into and out of the tray feeder. The system includes a pallet moving unit that removes the pallet from the supply unit and moves it to the parts removal position or the storage unit, and a pallet moving unit that moves the pallet back to the supply unit. The aforementioned supply unit is The tray feeder has an opening for loading and unloading the pallet into the supply section from the outside, A shutter that opens and closes, located between the opening and the pallet moving part, It has a shutter drive unit that opens and closes the shutter, The shutter drive unit is a tray feeder that opens the shutter when the pallet inserted through the opening reaches the front open position in front of the shutter.

2. The shutter drive unit is, A front drive contact portion that contacts the rear surface of the pallet inserted through the opening at a front contact position prior to the front open position, and moves in a width direction intersecting the direction of movement of the pallet as the pallet moves to the front open position, and moves to the side surface of the pallet, The tray feeder according to claim 1, further comprising a drive link mechanism connected to the front drive contact portion and the shutter, which moves the shutter such that the shutter opens when the front drive contact portion moves in the width direction.

3. The shutter drive unit is, The first rear drive contact portion further has a position where it contacts the front surface of the pallet being pushed toward the opening by the pallet moving portion at a first rear contact position that is later than the rear opening position on the pallet moving portion side of the shutter, and moves in the width direction to move toward the side surface of the pallet as the pallet moves toward the rear opening position. The tray feeder according to claim 2, wherein the drive link mechanism is connected to the first rear drive contact portion, and moves the shutter such that the shutter opens when the first rear drive contact portion moves in the width direction.

4. The shutter drive unit is, The device further includes a second rear drive contact portion that, at a second rear contact position later than the first rear contact position, contacts the front surface of the pallet being pushed toward the opening by the pallet moving portion, and moves in the width direction to the side surface of the pallet before the pallet contacts the first rear drive contact portion. The tray feeder according to claim 3, wherein the drive link mechanism is connected to the second rear drive contact portion, and moves the shutter such that the shutter opens when the second rear drive contact portion moves in the width direction.

5. The tray feeder according to claim 4, wherein the second rear drive contact portion, before contact with the pallet, is located further outward in the width direction than the first rear drive contact portion.

6. It has a control unit that controls the pallet moving unit, The control unit, A tray feeder according to any one of claims 3 to 5, wherein the pallet moving unit controls the pallet moving unit to slow down the moving speed of the pallet before the pallet being pushed toward the opening comes into contact with the first rear drive contact unit.

7. It has a control unit that controls the pallet moving unit, The control unit, The tray feeder according to claim 4 or 5, wherein the pallet moving unit controls the pallet moving unit to slow down the moving speed of the pallet before the pallet being pushed toward the opening comes into contact with the second rear drive contact unit.

8. The tray feeder according to claim 2, wherein the height of the lower surface of the front drive contact portion is lower than the height of the lower surface of the pallet through which the replenishment portion passes.

9. The aforementioned supply unit is The pallet passing through is supported from below and has a plate with a notch formed therein. The tray feeder according to claim 8, wherein the front drive contact portion is located within the notch of the plate in a plan view.

10. The aforementioned supply unit is The system further includes a locking mechanism to prevent the closed shutter from opening. The locking mechanism is The tray feeder according to claim 2, wherein the shutter is released before the rear surface of the pallet inserted through the opening moves to the front open position.

11. The locking mechanism is A locking member that secures the closed shutter so that it does not open, A front locking contact portion that contacts the rear surface of the pallet inserted through the opening before the front open position, and moves in the width direction to the side surface of the pallet before the pallet moves to the front open position, The tray feeder according to claim 10, further comprising a lock link mechanism connected to the front lock contact portion and the locking member, which moves the locking member such that the shutter is released when the front lock contact portion moves in the width direction.

12. The tray feeder according to claim 11, wherein the front drive contact portion and the front lock contact portion are arranged apart in the width direction.

13. The aforementioned supply unit is The system further includes a locking mechanism to prevent the closed shutter from opening. The locking mechanism is Before the rear surface of the pallet inserted through the opening moves to the front open position, the shutter is released. Furthermore, the tray feeder according to claim 3, wherein the shutter is released before the front surface of the pallet, which is pushed toward the opening by the pallet moving section, moves to the rear open position.

14. The locking mechanism is A locking member that secures the closed shutter so that it does not open, A front locking contact portion that contacts the rear surface of the pallet inserted through the opening before the front open position, and moves in the width direction to the side surface of the pallet before the pallet moves to the front open position, A rear locking contact portion that contacts the front surface of the pallet as it is pushed toward the opening by the pallet moving portion after the rear opening position, and moves in the width direction to the side surface of the pallet before the pallet moves to the rear opening position, The tray feeder according to claim 13, comprising a lock link mechanism connected to the front lock contact portion, the rear lock contact portion, and the locking member, wherein the lock link mechanism moves the locking member to release the shutter when the front lock contact portion moves in the width direction, and moves the locking member to release the shutter when the rear lock contact portion moves in the width direction.

15. It has a control unit that controls the pallet moving unit, The control unit, The tray feeder according to claim 14, wherein the pallet moving unit controls the pallet moving unit to slow down the moving speed of the pallet before the pallet being pushed toward the opening comes into contact with the rear lock contact unit.

16. The control unit, The tray feeder according to claim 15, wherein when the pallet, whose moving speed has been slowed, passes the rear open position, the pallet moving unit is controlled to increase the moving speed.

17. The tray feeder according to claim 14, wherein the front drive contact portion and the front lock contact portion are arranged apart in the width direction.

18. The shutter drive unit is, A front detection unit for detecting the pallet when it reaches the front open position, It has a shutter opening / closing unit that changes the position or orientation of the shutter to open and close the shutter, The shutter opening and closing mechanism is, The tray feeder according to claim 1, wherein the front detection unit opens the shutter when it detects the pallet.

19. The shutter drive unit is, Having multiple front detection units, The shutter opening and closing mechanism is, The tray feeder according to claim 18, wherein the shutter is opened when all of the front detection units detect the pallet.

20. The shutter drive unit is, The system includes a rear detection unit that detects the pallet that has been pushed toward the opening by the pallet moving unit and has reached the rear open position on the pallet moving unit side of the shutter, The shutter opening and closing mechanism is, The tray feeder according to claim 18 or 19, wherein the rear detection unit opens the shutter when it detects the pallet.

21. The shutter opening and closing mechanism is, After the front detection unit detects the pallet and opens the shutter, when the rear detection unit no longer detects the pallet, it closes the shutter. Furthermore, the tray feeder according to claim 20, wherein after the rear detection unit detects the pallet and opens the shutter, the front detection unit closes the shutter when it no longer detects the pallet.

22. A component mounting apparatus that moves a pallet holding a tray containing components from a storage unit to a component removal position, and removes the components using a mounting head and mounts them onto a circuit board, A supply unit is provided in a separate area from the aforementioned storage unit, and is capable of loading and unloading the pallet. The system includes a pallet moving unit that removes the pallet from the supply unit and moves it to the parts removal position or the storage unit, and a pallet moving unit that moves the pallet back to the supply unit. The aforementioned supply unit is An opening for inserting and removing the pallet from the outside of the component mounting device into the supply section, A shutter that opens and closes, located between the opening and the pallet moving part, It has a shutter drive unit that opens and closes the shutter, The shutter drive unit opens the shutter when the pallet inserted through the opening reaches the front open position in front of the shutter, in a component mounting device.

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