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 20 includes a storage section 22U for storing pallets that hold trays, a supply section 24 provided in a separate area from the storage section 22U that can load and unload pallets into and out of the tray feeder 20, and a pallet moving section that removes pallets from the supply section 24 and moves them to a parts loading position or the storage section 22U, and also moves pallets back into the supply section 24. The supply section 24 has an opening 25 for loading and unloading pallets 7 into and out of the supply section 24 from outside the tray feeder 20, and a shutter 41 located between the opening 25 and the pallet moving section that opens and closes.

Description

Technical Field

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

Background Art

[0002] A tray feeder that is mounted on a component mounting apparatus that mounts components on a substrate by a mounting head and supplies the components stored in a tray to the component mounting apparatus is widely used. Patent Document 1 discloses a tray feeder including a plurality of storage units that store pallets holding trays, and a replenishment unit capable of taking 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, and discloses that when the cover opening / closing detection switch detects the opening of the opening / closing cover, the mounting head of the component mounting apparatus and the mechanism of the tray feeder are stopped. Thereby, it is possible to prevent 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 conventional technology 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 / from the replenishment unit by opening the opening / closing cover, and there was room for further improvement in order to be able to perform the replenishment operation of the pallet 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 replenishment section provided in a separate area from the storage section, which is capable of loading and unloading the pallets into and out of the tray feeder; and a pallet moving section that removes the pallets from the replenishment section and moves them to the component removal position or the storage section, and moves the pallets to the replenishment section, wherein the replenishment section has an opening for loading and unloading the pallets into and out of the replenishment section from outside the tray feeder, and a shutter located between the opening and the pallet moving section that opens and closes.

[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, and removes the components with a mounting head and mounts them on a substrate, comprising: a supply unit provided in a separate area from the storage unit and capable of loading and unloading 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 loading and unloading the pallet from outside the component mounting apparatus to the supply unit, and a shutter located between the opening and the pallet moving unit that opens and closes. [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 perspective view showing the replenishment section of a tray feeder according to one embodiment of the present disclosure in a closed state. [Figure 6] A front view showing the replenishment section of a tray feeder according to one embodiment of the present disclosure with the cover open. [Figure 7] (a)(b) A diagram illustrating the function of the link mechanism of the replenishment section of a tray feeder according to one embodiment of the present disclosure. [Figure 8] A block diagram showing the configuration of a control system for a component mounting device according to one embodiment of the present disclosure. [Figure 9] A flowchart of a pallet replacement method using a replenishment unit in a component mounting apparatus according to one embodiment of the present disclosure. [Figure 10] A perspective view showing the cover open in a replenishment section of another embodiment of a tray feeder according to one embodiment of the present disclosure. [Figure 11] A perspective view showing the cover closed in a replenishment section of another embodiment of the tray feeder of one embodiment of the present disclosure. [Figure 12] A front view showing the cover open in a replenishment section of another embodiment of a tray feeder according to one embodiment of the present disclosure. [Figure 13] (a)(b) A diagram illustrating the functions of the drive link mechanism and locking mechanism of a replenishment section in another embodiment of the tray feeder of one embodiment of the present disclosure. [Figure 14] (a)(b) A diagram illustrating the functions of the drive link mechanism and locking mechanism of a replenishment section in another embodiment of the tray feeder of one embodiment of the present disclosure. [Figure 15] Block diagram showing the configuration of the control system of another example of the component mounting apparatus according to an embodiment of the present disclosure. [Figure 16] Side view showing (a) the state where the cover is open and (b) the state where the cover is closed in the replenishment unit provided in the tray feeder according to another embodiment of the present disclosure. [Figure 17] Block diagram showing the configuration of the control system of the component mounting apparatus according to another embodiment of the present disclosure. [Figure 18] Flow chart of the pallet exchange method using the replenishment unit in the component mounting apparatus according to another embodiment of the present disclosure.

Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. The configurations, shapes, etc. described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting apparatus and the tray feeder. In the following, the same reference numerals are assigned to corresponding elements in all the drawings, and duplicate explanations are omitted. In FIG. 1 and a part described later, as two axes orthogonal to each other in the horizontal plane, the X-axis (left-right direction in FIG. 1) in the substrate conveyance direction and the Y-axis (up-down direction in FIG. 1) orthogonal to the substrate conveyance direction are shown. In FIG. 1 and a part described later, the Z-axis (up-down direction in FIG. 2) is shown as the height direction orthogonal to the horizontal plane.

[0011] First, referring to FIG. 1, the configuration of the component mounting apparatus 1 will be described. The component mounting apparatus 1 has a function of performing a mounting operation of manufacturing a mounted substrate by mounting the components supplied from the component supply unit on the substrate by the mounting head. In the center of the base 2, a substrate conveyance mechanism 3 is arranged along the X-axis. The substrate conveyance mechanism 3 carries in, positions, and holds the substrate B conveyed from the upstream at the mounting operation position. Further, the substrate conveyance mechanism 3 discharges the substrate B for which the mounting operation has been completed downstream.

[0012] On both sides of the substrate transfer mechanism 3 (in the front-back direction of the Y-axis), component supply units 4 are provided. In each component supply unit 4, a plurality of tape feeders 5 are arranged along the X-axis. The tape feeder 5 supplies components to a component extraction position where the components are taken out by a mounting head 10 described below, by pitch-feeding a carrier tape formed with pockets for storing components from the outside of the component supply unit 4 toward the substrate transfer mechanism 3 in the tape feed direction.

[0013] In FIG. 1, in the front component supply unit 4, a tray feeder 20 that supplies a pallet 7 holding a tray 6 containing components D such as large components, connectors, communication modules, etc. to a component extraction position P is mounted. The tray feeder 20 is detachable from the component supply unit 4. The tray feeder 20 is mounted on a component mounting apparatus 1 that mounts component D on substrate B by the mounting head 10, and supplies the tray 6 containing component D to a component extraction position P where component D is taken out by the mounting head 10.

[0014] In FIG. 1, at both ends in the X-axis on the upper surface of the base 2, Y-axis tables 8 equipped with linear drive mechanisms are arranged along the Y-axis. On the Y-axis table 8, a beam 9 similarly equipped with a linear drive mechanism is movably coupled along the Y-axis. The beam 9 is arranged along the X-axis. On the beam 9, a mounting head 10 is movably mounted along the X-axis via a beam plate 9a. The mounting head 10 is detachable from the beam plate 9a. The mounting head 10 includes a plurality of mounting units 14 (FIG. 3). At the lower end of each mounting unit 14, a nozzle 15 (FIG. 3) for adsorbing and holding component D is mounted.

[0015] The Y-axis table 8 and the beam 9 constitute a head movement mechanism 11 for moving the mounting head 10 along the X-axis and Y-axis. The head movement mechanism 11 and the mounting head 10 perform a mounting turn of adsorbing and taking out component D from the tape feeder 5 or tray feeder 20 arranged in the component supply unit 4 by the nozzle 15 mounted on the mounting head 10, and mounting it at the mounting position of the substrate B positioned by the substrate transfer 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 tray supply process in which the tray feeder 20 pulls the pallet 7 out of the storage sections 22, 22U and moves it to the parts removal position P will be described. First, the tray feeder 20 operates the lifting motor 31 to move the pull-out mechanism 28 to the height of the storage sections 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 sections 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 tray storage process, which involves moving the pallet 7 that holds the empty tray 6 after the 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 tray supply process, and therefore a detailed explanation is omitted.

[0027] Furthermore, the operation of 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 in the tray supply process, so a detailed explanation is omitted. Also, the operation of moving the pallet 7 held by the drawer mechanism 28 to the replenishment unit 24 is the same as in the tray storage process, so 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 out of 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 8) 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 50 (Figure 8) 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 to 6. For convenience, Figures 4 to 6 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 6 show the cover 26 in the open state. Figure 5 shows the cover 26 in the closed state.

[0030] In Figures 4 to 6 and 8, 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 plate 34 that supports the pallet 7 passing through the supply unit 24 from below, and a pair of left and right guide portions 35 that guide the sides of the pallet 7. An open / close detection unit 36 ​​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 36 ​​is configured with a microswitch or magnetic switch that detects 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 36 ​​is transmitted to the feeder control unit 33.

[0031] The supply unit 24 has a cover fixing mechanism 37 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 37 are controlled by the feeder control unit 33. For example, when the open / close detection unit 36 ​​detects that the cover 26 has been closed, the feeder control unit 33 controls the cover fixing mechanism 37 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 37 from securing the cover 26.

[0032] In Figures 4 to 6, a right-side cover retaining member 38R 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 38L 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 38R and the left-side cover retaining member 38L 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 39R, whose position is fixed relative to the supply unit 24, is positioned to the left of the right-side cover retaining member 38R. On the front left side of the supply unit 24, a left-side cover support member 39L, whose position is fixed relative to the supply unit 24, is positioned to the right of the left-side cover retaining member 38L. The right-side cover retaining member 38R is connected to the right-side cover support member 39R by a pin 40 extending in the X-axis direction. The left-side cover retaining member 38L is also connected to the left-side cover support member 39L by a pin 40 extending in the X-axis direction.

[0034] Thus, the pin 40 connecting the right cover retaining member 38R and the right cover support member 39R, and the pin 40 connecting the left cover retaining member 38L and the left cover support member 39L, are fixed in position relative to the supply unit 24. With this configuration, the cover 26 can rotate back and forth in the Y-axis direction with the pin 40 (X-axis) as the axis of rotation (arrow a 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 (arrow c in Figure 7(a)).

[0035] In Figures 4 to 6, a shutter 41 is positioned between the opening 25 and the pallet moving section 27 and opens and closes at the rear of the supply section 24. A right-side shutter retaining member 42R is fixed to the right side of the shutter 41. A left-side shutter retaining member 42L is fixed to the left side of the shutter 41. A right-side shutter support member 43R, whose position is fixed relative to the supply section 24, is positioned to the left of the right-side shutter retaining member 42R on the right side of the rear of the supply section 24. A left-side shutter support member 43L, whose position is fixed relative to the supply section 24, is positioned to the right of the left-side shutter retaining member 42L on the left side of the rear of the supply section 24. The right-side shutter retaining member 42R is connected to the right-side shutter support member 43R by a pin 40 extending in the X-axis direction. The left-side shutter retaining member 42L is connected to the left-side shutter support member 43L by a pin 40 extending in the X-axis direction.

[0036] As described above, the pin 40 connecting the right shutter holding member 42R and the right shutter support member 43R, and the pin 40 connecting the left shutter holding member 42L and the left shutter support member 43L, are fixed in position relative to the supply unit 24. With this configuration, the shutter 41 can rotate back and forth in the Y-axis direction with the pin 40 (X-axis) as the axis of rotation (arrow b in Figure 5). The shutter 41 is opened and closed by a shutter drive unit 44, which will be described later. When the shutter 41 is rotated to the rear by the shutter drive unit 44, the space between the opening 25 and the pallet moving unit 27 is closed by the shutter 41. Conversely, when the shutter 41 is rotated to the front by the shutter drive unit 44, the space between the opening 25 and the pallet moving unit 27 is opened.

[0037] When the shutter 41 opens, the pull-out mechanism 28 of the pallet moving unit 27 engages the engaging portion 28a with the notch 7a of the pallet 7, making it possible to insert and remove the pallet 7 from the rear of the supply unit 24 (arrow d in Figure 7(b)). By designing the open shutter 41 to move to a higher position above the plate 34, and widening the gap G formed between the plate 34 and the shutter 41, it becomes possible to store parts D with height in the Z-axis direction in the tray 6 and insert and remove them from the supply unit 24.

[0038] Furthermore, by designing the gap G formed between the closed shutter 41 and the plate 34 to be smaller than the thickness of the worker's hand (Figure 6), 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 41 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.

[0039] In Figures 4 to 6, a shutter drive unit 44 is located to the left of the replenishment unit 24. This unit closes the shutter 41 when the cover 26 is opened and opens the shutter 41 when the cover 26 is closed. The shutter drive unit 44 may also be located to the right of the replenishment unit 24. Alternatively, two shutter drive units 44 that operate in conjunction may be located on the left and right sides of the replenishment unit 24. In this embodiment, the shutter drive unit 44 has a link mechanism 45 that is connected to the cover 26 via a left-side cover holding member 38L and to the shutter 41 via a left-side shutter holding member 42L. The link mechanism 45 rotates the shutter 41 to the rear so that the shutter 41 closes when the cover 26 is opened, and rotates the shutter 41 to the front so that the shutter 41 opens when the cover 26 is closed.

[0040] Next, the configuration and function of the link mechanism 45 provided in the supply unit 24 will be explained with reference to Figures 4 to 7. Figure 7 schematically shows the link mechanism 45. In Figure 7, pins 40 whose position is fixed relative to the supply unit 24 are shown as dotted circles, and pins 40 whose position is not fixed are shown as white circles.

[0041] In Figures 4, 5, and 7, the link mechanism 45 is composed of a left cover holding member 38L connected to the left cover support member 39L by a pin 40, a left shutter holding member 42L connected to the left shutter support member 43L by a pin 40, as well as a first link member 46, a second link member 47, and a third link member 48. The left cover holding member 38L, the left cover support member 39L, the left shutter holding member 42L, the left shutter support member 43L, the first link member 46, the second link member 47, and the third link member 48 are plate-shaped members formed from a hard material such as metal.

[0042] The left cover holding member 38L, the left cover support member 39L, the left shutter holding member 42L, the left shutter support member 43L, the first link member 46, the second link member 47, and the third link member 48 are interconnected by a plurality of pins 40 that extend in the X-axis direction and have a rotation axis about the X-axis, and their position and orientation can be changed in the YZ plane. The pin 40 connecting the left cover holding member 38L and the left cover support member 39L constitutes a first node N1 whose position is fixed relative to the supply unit 24. The pin 40 connecting the left shutter holding member 42L and the left shutter support member 43L constitutes a second node N2 whose position is fixed relative to the supply unit 24.

[0043] In Figures 4, 5, and 7, the first link member 46 is positioned to the left of the left cover retaining member 38L. One end of the first link member 46 is connected to the left cover retaining member 38L by a pin 40. The pin 40 connecting the first link member 46 and the left cover retaining member 38L constitutes the third node N3. The second link member 47 is positioned to the right of the first link member 46 and to the left of the left cover support member 39L. That is, the second link member 47 is positioned between the first link member 46 and the left cover support member 39L. The other end of the first link member 46 is connected to the second link member 47 by a pin 40. The pin 40 connecting the first link member 46 and the second link member 47 constitutes the fourth node N4.

[0044] The second link member 47 is connected to the left cover retaining member 38L by a pin 40. The pin 40 connecting the second link member 47 and the left cover retaining member 38L constitutes a fifth node N5 whose position is fixed relative to the supply section 24. The first node N1, third node N3, fourth node N4, and fifth node N5 are located at the vertices of the first parallelogram PG1. When the cover 26 rotates, that is, when the left cover retaining member 38L rotates, the positions and orientations of the first link member 46 and the second link member 47 are changed so that the line connecting the first node N1 and the third node N3 remains parallel to the line connecting the fifth node N5 and the fourth node N4, and the line connecting the first node N1 and the fifth node N5 remains parallel to the line connecting the third node N3 and the fourth node N4.

[0045] In Figures 4, 5, and 7, the third link member 48 is positioned to the left of the left shutter retaining member 42L and the second link member 47. One end (rear side) of the third link member 48 is connected to the left shutter retaining member 42L by a pin 40. The pin 40 connecting the third link member 48 and the left shutter retaining member 42L constitutes the sixth node N6. The other end (front side) of the third link member 48 is connected to the second link member 47 by a pin 40. The pin 40 connecting the third link member 48 and the second link member 47 constitutes the seventh node N7.

[0046] The second node N2, the fifth node N5, the seventh node N7, and the sixth node N6 are located at the vertices of the second parallelogram PG2. The fifth node N5 is a vertex common to both the first parallelogram PG1 and the second parallelogram PG2. When the second link member 47 rotates due to the rotation of the cover 26, the positions and orientations of the left shutter holding member 42L and the third link member 48 are changed so that the line connecting the second node N2 and the fifth node N5 remains parallel to the line connecting the sixth node N6 and the seventh node N7, and the line connecting the second node N2 and the sixth node N6 remains parallel to the line connecting the fifth node N5 and the seventh node N7.

[0047] In Figure 7, with this configuration, the link mechanism 45 is connected to the cover 26 and the shutter 41, and changes the position or orientation of the shutter 41 so that when the cover 26 opens, the shutter 41 closes, and changes the position or orientation of the shutter 41 so that when the cover 26 closes, the shutter 41 opens. More specifically, when the cover 26 rotates to open (arrow e1), the link mechanism 45 rotates the shutter 41 so that the shutter 41 closes (arrow e2), and when the cover 26 rotates to close (arrow f1), the link mechanism 45 rotates the shutter 41 so that the shutter 41 opens (arrow f2).

[0048] Furthermore, the distance L1 between the closed cover 26 and the closed shutter 41 is set to be longer than the length L2 of the pallet 7 inserted through the opening 25. This allows the operator to open and close the cover 26 without the pallet 7 inserted into the supply section 24 interfering with the cover 26 and shutter 41.

[0049] Next, with reference to Figure 8, the configuration of the control system of the component mounting device 1 equipped with the tray feeder 20 will be described. The control device 50 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 36, and a cover fixing mechanism 37. 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 50.

[0050] The control device 50 includes an assembly memory unit 51 and an assembly control unit 52. The assembly memory unit 51 is a memory device that stores assembly data and other information. 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.

[0051] In Figure 8, the mounting control unit 52 controls the mounting head 10 and the head movement mechanism 11 based on the mounting data stored in the mounting memory unit 51 to pick up the components D from the tape feeder 5 and 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 52 sends a command to the feeder control unit 33 to execute a tray storage process so that the empty pallet 7 is stored in the empty storage units 22 and 22U. Next, the mounting control unit 52 sends a command to the feeder control unit 33 to execute a tray supply process so that a replacement pallet 7 holding the tray 6 containing the components D is supplied from the storage units 22 and 22U to the component pick-up position P.

[0052] Furthermore, the mounting control unit 52 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 52 and the feeder control unit 33 work together to perform the pallet exchange operation. Hereinafter, the control performed jointly by the mounting control unit 52 and the feeder control unit 33 may be simply referred to as control by the mounting control unit 52 or control by the feeder control unit 33. The mounting control unit 52 and the feeder control unit 33 perform the pallet exchange operation without interrupting the mounting work.

[0053] In Figure 8, during the pallet exchange operation, the feeder control unit 33 first confirms that the cover 26 is closed based on the detection result of the open / close detection unit 36. If the cover 26 is open, the feeder control unit 33 displays "Close the cover" on the control panel 32 or touch panel 16. If the cover 26 is closed, the feeder control unit 33 controls the pallet moving unit 27 to move the designated pallet 7 from the rear to the replenishment unit 24. Next, the feeder control unit 33 releases the cover 26 from the cover fixing mechanism 37 and displays "The pallet is ready to be removed" on the control panel 32 or touch panel 16.

[0054] The worker opens the cover 26, removes the pallet 7 from the opening 25, places the new pallet 7 on the supply unit 24 through the opening 25, and closes the cover 26. Based on the detection result of the opening / closing detection unit 36, the feeder control unit 33 detects that the cover 26 has been closed and fixes the cover 26 to the cover fixing mechanism 37. Next, the feeder control unit 33 controls the pallet moving unit 27 to remove the new pallet 7 from the supply unit 24 and move it to the parts removal position P or the empty storage units 22, 22U.

[0055] Next, following the flow chart in Figure 9, a pallet exchange method using the replenishment unit 24 in a component mounting device 1 equipped with a tray feeder 20 will be described. 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 36 ​​(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).

[0056] If the cover 26 is closed (Yes in ST2), the feeder control unit 33 controls the pallet moving unit 27 to move the designated pallet 7 to the replenishment unit 24 from the rear (ST4). Next, the feeder control unit 33 controls the cover fixing mechanism 37 to release the cover 26 from being fixed by the cover fixing mechanism 37 (ST5). Then, the feeder control unit 33 displays on the control panel 32 or touch panel 16 that "The pallet is ready to be picked up" (ST6).

[0057] In Figure 9, the worker then opens the cover 26, removes the pallet 7 from the opening 25, places the new pallet 7 on the supply unit 24, and closes the cover 26. Based on the detection result of the opening / closing detection unit 36, the feeder control unit 33 detects that the cover 26 has been closed (Yes in ST7) and controls the cover fixing mechanism 37 to fix the cover 26 to the cover fixing mechanism 37 (ST8). Next, the feeder control unit 33 controls the pallet moving unit 27 to remove the new pallet 7 from the supply unit 24 and move it to the parts removal position P or the empty storage units 22, 22U (ST9).

[0058] Next, with reference to Figures 10 to 12, the configuration of another embodiment of the tray feeder (hereinafter simply referred to as "tray feeder 20A") will be described. Tray feeder 20A differs from tray feeder 20's shutter drive unit 44A, which has a link mechanism 45, in that the shutter drive unit 44A, which includes a drive link mechanism 60 and a lock mechanism 61, closes the shutter 41A when the cover 26A of the replenishment unit 24A opens, and opens the shutter 41A when the cover 26A closes. Hereafter, the same reference numerals are used for parts that are the same as those of tray feeder 20, and detailed explanations are omitted.

[0059] For convenience, Figures 10 to 12 omit details such as the housing covering the top and sides of the supply unit 24A, and the handles that the operator grips when opening and closing the cover 26A. Figures 10 and 12 show the cover 26A in the open position. Figure 11 shows the cover 26A in the closed position.

[0060] In Figures 10 to 12, the cover 26A is configured to include a front portion 26Aa that covers the front of the supply section 24A when closed, and an upper portion 26Ab that covers the top surface. Inside the front portion 26Aa of the cover 26A (on the shutter 41A side when the cover 26A is closed), a right-side pressing member 62R is positioned on the right side, and a left-side pressing member 62L is positioned on the left side. The right-side pressing member 62R includes a right-side drive pressing portion 62Ra and a right-side lock pressing portion 62Rb. The left-side pressing member 62L includes a left-side drive pressing portion 62La and a left-side lock pressing portion 62Lb.

[0061] Hereafter, unless otherwise necessary, the right-side pressing member 62R and the left-side pressing member 62L will be simply referred to as "pressing member 62", the right-side drive pressing section 62Ra and the left-side drive pressing section 62La will be simply referred to as "drive pressing section 62a", and the right-side lock pressing section 62Rb and the left-side lock pressing section 62Lb will be simply referred to as "lock pressing section 62b". When the cover 26A is closed, the drive pressing section 62a is located behind the lock pressing section 62b (towards the shutter 41A). Furthermore, the cover 26A equipped with the pressing members 62 will be described simply as "cover 26A", and the drive pressing section 62a and the lock pressing section 62b may be described as part of the cover 26A.

[0062] In Figures 10 to 12, a right-side cover support member 63R is positioned on the front right side of the supply unit 24A, with its position fixed relative to the supply unit 24A. A left-side cover support member 63L is positioned on the front left side of the supply unit 24A, with its position fixed relative to the supply unit 24A. When the cover 26A is closed, the right-side drive press portion 62Ra and the right-side lock press portion 62Rb of the right-side pressing member 62R are located to the right (outside) of the right-side cover support member 63R. Also, when the cover 26A is closed, the left-side drive press portion 62La and the left-side lock press portion 62Lb of the left-side pressing member 62L are located to the left (outside) of the left-side cover support member 63L.

[0063] An upper cover support member 64 is spanned and fixed across the upper parts of the right cover support member 63R and the left cover support member 63L. One end of two torque hinges 65, each having a rotation axis around the X axis, is fixed to the upper surface of the upper cover support member 64. The other ends of the torque hinges 65 are fixed to the upper part 26Ab of the cover 26A. With this configuration, the cover 26A can rotate approximately 180° forward and backward in the Y axis direction around the rotation axis of the torque hinges 65 (arrow g1 in Figure 11).

[0064] In Figures 10, 12, and 15, an open / close detection unit 36A for detecting the opening and closing of the cover 26A is provided on the front side of the right cover support member 63R. The open / close detection unit 36A is composed of a microswitch or a magnetic switch for detecting the front part 26Aa of the closed cover 26A. The detection result of the open / closed state of the cover 26A by the open / close detection unit 36A is transmitted to the feeder control unit 33A. The open / close detection unit 36A may also be provided on the front side of the left cover support member 63L.

[0065] A cover fixing mechanism 37A is positioned to the right of the right-side cover support member 63R to secure the closed cover 26A so that it does not open. The fixing and release of the closed cover 26A by the cover fixing mechanism 37A are controlled by the feeder control unit 33A. A magnet (not shown) may be provided in the supply unit 24A to secure the closed cover 26A by magnetic force so that it does not open. Hereafter, unless otherwise necessary, the right-side cover support member 63R and the left-side cover support member 63L will simply be referred to as "cover support member 63".

[0066] In Figures 10 and 11, a shutter 41A is positioned between the opening 25 and the pallet moving section 27 and opens and closes at the rear of the supply section 24A. A right-side shutter retaining member 66R is fixed to the right side of the shutter 41A. A left-side shutter retaining member 66L is fixed to the left side of the shutter 41A. A right-side shutter support member 67R, whose position is fixed relative to the supply section 24A, is positioned to the left of the right-side shutter retaining member 66R on the right side of the rear of the supply section 24A. A left-side shutter support member 67L, whose position is fixed relative to the supply section 24A, is positioned to the right of the left-side shutter retaining member 66L on the left side of the rear of the supply section 24A.

[0067] The right shutter retaining member 66R is connected to the right shutter support member 67R by a pin 40 extending in the X-axis direction. Similarly, the left shutter retaining member 66L is connected to the left shutter support member 67L by a pin 40 extending in the X-axis direction. In this way, the pin 40 connecting the right shutter retaining member 66R and the right shutter support member 67R, and the pin 40 connecting the left shutter retaining member 66L and the left shutter support member 67L, are fixed in position relative to the supply unit 24A. With this configuration, the shutter 41A can rotate back and forth in the Y-axis direction with the pin 40 (X-axis) as the axis of rotation (arrow g2 in Figure 11).

[0068] Hereafter, unless otherwise necessary, the right shutter retaining member 66R and the left shutter retaining member 66L will simply be referred to as "shutter retaining member 66," and the right shutter support member 67R and the left shutter support member 67L will simply be referred to as "shutter support member 67."

[0069] Next, with reference to Figures 10 to 14, the configuration and function of the shutter drive unit 44A provided in the supply unit 24A will be described. Figures 13 and 14 schematically show the shutter drive unit 44A. In Figures 13 and 14, pins 40 whose position is fixed relative to the supply unit 24A are shown as dotted circles, and pins 40 whose position is not fixed are shown as white circles.

[0070] The shutter drive unit 44A is composed of a right-side drive link mechanism 60R and a right-side locking mechanism 61R located to the right of the supply unit 24A, and a left-side drive link mechanism 60L and a left-side locking mechanism 61L located to the left. Hereafter, unless otherwise necessary, the right-side drive link mechanism 60R and the left-side drive link mechanism 60L will be simply referred to as "drive link mechanism 60," and the right-side locking mechanism 61R and the left-side locking mechanism 61L will be simply referred to as "locking mechanism 61."

[0071] The right-side drive link mechanism 60R and the right-side locking mechanism 61R are symmetrical with respect to the left-side drive link mechanism 60L and the left-side locking mechanism 61L with respect to the YZ plane. Hereinafter, the drive link mechanism 60 and the locking mechanism 61 of the shutter drive unit 44A will be described with reference to the left-side drive link mechanism 60L and the left-side locking mechanism 61L. Furthermore, the distinction between right-side and left-side may be omitted when describing the components constituting the left-side drive link mechanism 60L and the left-side locking mechanism 61L.

[0072] First, the drive link mechanism 60 will be described with reference to Figures 10 to 14. The drive link mechanism 60 (left drive link mechanism 60L) is composed of a shutter holding member 66 (left shutter holding member 66L) connected to a shutter support member 67 (left shutter support member 67L) by a pin 40, as well as a fourth link member 68 and a fifth link member 69. The shutter holding member 66, shutter support member 67, fourth link member 68, and fifth link member 69 are plate-shaped members formed from a hard material such as metal.

[0073] The shutter holding member 66, shutter support member 67, fourth link member 68, and fifth link member 69 are interconnected by a plurality of pins 40 that extend in the X-axis direction and have a rotation axis around the X-axis, and their position and orientation can be changed in the YZ plane. The pins 40 connecting the shutter holding member 66 and the shutter support member 67 constitute an eighth node N8 whose position is fixed with respect to the supply unit 24A. The pins 40 constituting the eighth node N8 have a biasing means (not shown), such as a torsion spring, that biases the shutter holding member 66 in the direction that closes the shutter 41A, and a locking part (not shown) that stops the shutter holding member 66 when the shutter 41A is closed.

[0074] In Figures 10 to 14, the fourth link member 68 has a crank shape. That is, one end of the fourth link member 68 is the rear end of the rear projection 68b that extends rearward from the central part 68a of the crank shape. The other end of the fourth link member 68 is the front end of the front projection 68c that extends forward from the central part 68a of the crank shape. The front projection 68c of the fourth link member 68 is positioned above the rear projection 68b.

[0075] The fourth link member 68 is located on the outside (left side) of the shutter holding member 66. One end (rear end) of the fourth link member 68 is connected to the shutter holding member 66 by a pin 40. The pin 40 connecting the fourth link member 68 and the shutter holding member 66 constitutes the ninth node N9. The ninth node N9 is located in front of and below the eighth node N8 when the shutter 41A is closed (Figure 14(a)). The other end (front end) of the fourth link member 68 is a drive contact portion 70 having a roller with a rotation axis around the X axis. The drive contact portion 70 is positioned to contact the drive pressing portion 62a of the closing cover 26A.

[0076] In Figures 10 to 14, a central support member 71, whose position is fixed relative to the supply section 24A, is positioned between the cover support member 63 (left cover support member 63L) and the shutter support member 67 (left shutter support member 67L). The fifth link member 69 is positioned outside (left side) of the central support member 71 and inside (right side) of the fourth link member 68. In other words, the fifth link member 69 is positioned between the central support member 71 and the fourth link member 68.

[0077] One end (upper end) of the fifth link member 69 is connected to the upper part of the central support member 71 by a pin 40. The pin 40 connecting the fifth link member 69 and the central support member 71 constitutes the tenth node N10. The other end (lower end) of the fifth link member 69 is connected to the lower part of the central portion 68a of the fourth link member 68 by a pin 40. The pin 40 connecting the fifth link member 69 and the fourth link member 68 constitutes the eleventh node N11.

[0078] In Figure 14, when the drive contact portion 70 is not being pushed to the rear (towards the shutter 41A) by the drive pressing portion 62a, the shutter 41A is closed and the drive contact portion 70 is in its foremost position (Figure 14(a)). During the process of closing the cover 26A (arrows h2, h5), when the drive contact portion 70 is pressed to the rear by the drive pressing portion 62a (arrow h6), the ninth node N9 moves to a position behind the eighth node N8 (arrow h7). This causes the shutter holding member 66 to rotate forward, and the shutter 41A to rotate forward (arrow h8). As a result, the shutter 41A opens (Figure 14(b)).

[0079] Conversely, when the cover 26A is opened from a closed position, the shutter holding member 66 rotates to the rear by the biasing means on the pin 40 constituting the eighth node N8, causing the shutter 41A to rotate to the rear. The drive contact portion 70 also moves forward in accordance with the forward movement of the drive pressing portion 62a, and when the rotation stops due to the locking portion of the pin 40 constituting the eighth node N8 in the closed position of the shutter 41A, the movement of the drive contact portion 70 also stops. In other words, the drive contact portion 70 stops at the foremost standby position P1 when the cover 26A is open.

[0080] Thus, the drive link mechanism 60 is connected to the shutter 41A and a drive contact portion 70 that can contact the drive pressing portion 62a of the cover 26A. When the drive contact portion 70 moves in the direction of the shutter 41A (rearward) (arrow h6), it changes the position or orientation of the shutter 41A so that the shutter 41A opens (arrow h8). When the drive contact portion 70 moves in the direction of the cover 26A (forward), it changes the position or orientation of the shutter 41A so that the shutter 41A closes.

[0081] Next, the locking mechanism 61 will be described with reference to Figures 10 to 14. The locking mechanism 61 (left-side locking mechanism 61L) is composed of a locking contact portion 72, a locking contact portion holding member 73, and a blocking member 74. The locking contact portion holding member 73 and the blocking member 74 are members formed by processing a hard, plate-like material such as metal.

[0082] The lock contact portion holding member 73 is located on the outside (left side) of the cover support member 63 (left cover support member 63L). The upper end of the lock contact portion holding member 73 is connected to the cover support member 63 by a pin 40 having a rotation axis around the X axis. A lock contact portion 72 having a roller with a rotation axis around the X axis is located at the front end of the lower part of the lock contact portion holding member 73. An intermediate contact portion 75 having a roller with a rotation axis around the X axis is located at the rear end of the lower part of the lock contact portion holding member 73. With this configuration, the lock contact portion 72 and the intermediate contact portion 75 rotate together back and forth with the pin 40 as the axis of rotation. The lock contact portion 72 is located in a position to contact the lock pressing portion 62b of the closing cover 26A.

[0083] In Figures 10 to 14, the main body 74a of the blocking member 74 is positioned on the inside (right side) of the cover support member 63 (left cover support member 63L). The upper end of the main body 74a is connected to the cover support member 63 by a pin 40 having a rotation axis around the X axis. The lower end of the blocking member 74 is provided with a blocking lever 74b that bends outward (left side) at the rear (shutter 41A side) of the cover support member 63 and can contact a drive contact portion 70 located on the outside of the cover support member 63 from below the rear, and an intermediate lever 74c that can contact an intermediate contact portion 75 located on the outside of the cover support member 63 from above the rear. With this configuration, the blocking lever 74b and the intermediate lever 74c rotate together back and forth with the pin 40 as the axis of rotation.

[0084] The pin 40 connecting the blocking member 74 to the cover support member 63 has a biasing means (not shown) such as a torsion spring that biases the blocking member 74 forward (towards the cover 26A). When the cover 26A is open (the shutter 41A is closed) and the drive contact part 70 is stopped in the standby position P1, the blocking member 74 rotates forward so that the blocking lever 74b contacts the drive contact part 70 from the rear, and the intermediate lever 74c contacts the intermediate contact part 75 (Figure 13(a)). When the blocking lever 74b is in contact with the drive contact part 70 from the rear, even if an operator pushes the drive contact part 70 backward, the blocking lever 74b prevents the drive contact part 70 from moving backward (towards the shutter 41A). In other words, even if an operator pushes the drive contact part 70 backward while the cover 26A is open, the closed shutter 41A will not open.

[0085] In Figure 13(b), during the process of closing the cover 26A (arrow h1), the lock pressing portion 62b comes into contact with the lock contact portion 72.

[0086] In Figure 14(a), as the cover 26A closes (arrow h2), the lock contact portion 72 is pressed rearward by the lock pressing portion 62b. This causes the lock contact portion holding member 73 to rotate rearward (arrow h3). When the lock contact portion holding member 73 rotates rearward, the intermediate lever 74c is pushed rearward by the intermediate contact portion 75, causing the blocking member 74 to rotate rearward (arrow h4). This moves the blocking lever 74b to a position where it does not block the rearward movement of the drive contact portion 70. At this point, the drive pressing portion 62a is in contact with the drive contact portion 70, but is not pressing it. Also, the upper part of the opening 25 is covered by the cover 26A, and the space between the plate 34 and the cover 26A is open to the opening height H. The opening height H is set to a height that prevents the worker's hand from entering the inside of the supply section 24.

[0087] In Figure 14(b), as the cover 26A closes further (arrow h5), the drive contact portion 70 is pressed to the rear by the drive pressing portion 62a, causing the drive contact portion 70 to move to the rear (arrow h6), and the shutter 41A opens (arrow h8). In other words, the space between the plate 34 and the cover 26A from the time the cover 26A closes until the shutter 41A opens is narrower than the opening height H. Therefore, it is prevented that an operator may injure themselves by putting their hand into the supply section 24.

[0088] Conversely, when the cover 26A is opened from a closed position, the drive contact portion 70 moves to the standby position P1 (Figure 14(a)). Furthermore, as the cover 26A is opened, the lock pressing portion 62b moves forward, causing the lock contact portion holding member 73 to rotate forward, the blocking member 74 to rotate forward, and the blocking lever 74b to move behind the drive contact portion 70 (Figure 13(b)). This locks the drive link mechanism 60 so that the shutter 41A does not open.

[0089] Thus, the locking mechanism 61 includes a locking contact portion 72 that can contact the locking contact portion 62b before the driving press portion 62a of the closing cover 26A contacts the driving contact portion 70, and a blocking member 74 that prevents the driving contact portion 70, which is in the closed position (standby position P1) of the shutter 41A, from moving in the direction of the shutter 41A (rearward). When the locking contact portion 72 moves in the direction of the shutter 41A, the blocking lever 74b of the blocking member 74 moves to a position where it does not block the movement of the driving contact portion 70.

[0090] In Figure 12, the shutter drive unit 44A has a right-side locking mechanism 61R and a left-side locking mechanism 61L. The locking contact portion 72 of the right-side locking mechanism 61R is located on the right side (outside) of the right-side cover support member 63R. The locking contact portion 72 of the left-side locking mechanism 61L is located on the left side (outside) of the left-side cover support member 63L. In other words, the shutter drive unit 44A has multiple locking contact portions 72, and at least two of the locking contact portions 72 are located apart in the X-axis direction (the direction intersecting the direction in which the pallet 7 moves). As a result, the operator cannot touch all of the locking contact portions 72 with one hand.

[0091] As the cover 26A closes, the locking contact portion 72 of the right-side locking mechanism 61R is pressed against the right-side locking pressing portion 62Rb, releasing the lock on the right-side drive link mechanism 60R, and the locking contact portion 72 of the left-side locking mechanism 61L is pressed against the left-side locking pressing portion 62Lb, releasing the lock on the left-side drive link mechanism 60L. Then, the drive contact portion 70 of the right-side drive link mechanism 60R is pressed against the right-side drive pressing portion 62Ra, and the drive contact portion 70 of the left-side drive link mechanism 60L is pressed against the left-side drive pressing portion 62La, causing the shutter 41A to open.

[0092] In other words, in order for the operator to open the shutter 41A, they must use both hands to simultaneously press the left and right locking contacts 72 and the drive contact 70. Therefore, it is impossible for the operator to open the shutter 41A with one hand and insert the other hand inside the shutter 41A, thus ensuring the operator's safety.

[0093] Next, with reference to Figure 15, the configuration of the control system of the component mounting device 1A equipped with the tray feeder 20A will be described. The control device 50A of the component mounting device 1A includes a mounting storage unit 51 and a mounting control unit 52A. The mounting control unit 52A 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. The pallet exchange method using the replenishment unit 24A in the component mounting device 1A equipped with the tray feeder 20A is the same as the pallet exchange method using the replenishment unit 24 in the component mounting device 1 equipped with the tray feeder 20 shown in Figure 9, and a detailed explanation will be omitted.

[0094] Next, with reference to Figure 16, another embodiment of the tray feeder (hereinafter simply referred to as "tray feeder 20B") will be described. In tray feeder 20B, the configuration of the shutter drive unit 44B, which closes the shutter 41B when the cover 26 of the replenishment unit 24B is opened and opens the shutter 41B when the cover 26 is closed, differs from the shutter drive unit 44 of tray feeder 20, which has a 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.

[0095] The shutter drive unit 44B includes an opening / closing detection unit 36B that detects the opening and closing of the cover 26, and a shutter opening / closing unit 80 that includes a motor and the like that changes the position or orientation of the shutter 41B to open and close the shutter 41B. The shutter opening / closing unit 80 is connected to the feeder control unit 33B (Figure 17) of the tray feeder 20B. When the opening / closing detection unit 36B detects that the cover 26 has opened (arrow i1), the feeder control unit 33B controls the shutter opening / closing unit 80 to change the position or orientation of the shutter 41B so that the shutter 41B closes (arrow i2). Also, when the opening / closing detection unit 36B detects that the cover 26 has closed (arrow j1), the feeder control unit 33B controls the shutter opening / closing unit 80 to change the position or orientation of the shutter 41 so that the shutter 41 opens (arrow j2).

[0096] Next, with reference to Figure 17, the configuration of the control system of the component mounting device 1B equipped with the tray feeder 20B will be described. The control device 50B of the component mounting device 1B includes a mounting memory unit 51 and a mounting control unit 52B. The mounting control unit 52B and the feeder control unit 33B perform pallet exchange work using the replenishment unit 24B according to the mounting data or according to instructions entered by the operator from the touch panel 16 or control panel 32.

[0097] Next, following the flow chart in Figure 18, a pallet exchange method using the replenishment unit 24B in a component mounting device 1B equipped with a tray feeder 20B will be described. Hereafter, the same reference numerals will be used for the same steps as in the pallet exchange method in the component mounting device 1 shown in Figure 9, and detailed explanations will be omitted. When it is time to exchange the pallet (Yes in ST1) and the cover 26 is closed (Yes in ST2), the feeder control unit 33B controls the pallet moving unit 27 to move the designated pallet 7 from the rear to the replenishment unit 24B (ST4). At this time, the shutter 41B is open.

[0098] Next, the feeder control unit 33B controls the shutter opening / closing unit 80 to close the shutter 41B (ST11). Then, the feeder control unit 33B causes the cover fixing mechanism 37 to release the cover 26 (ST5), and displays a message on the control panel 32 or touch panel 16 indicating that "the pallet is ready to be removed" (ST6).

[0099] In Figure 18, the worker then opens the cover 26, removes the pallet 7 from the opening 25, places the new pallet 7 on the supply unit 24B, and closes the cover 26. At this time, the shutter 41B is closed, allowing the worker to safely replace the pallet 7 without stopping the mounting work by the component mounting device 1B.

[0100] Next, based on the detection result of the opening / closing detection unit 36B, the feeder control unit 33B detects that the cover 26 has been closed (Yes in ST7) and causes the cover fixing mechanism 37 to fix the cover 26 (ST8). Next, the feeder control unit 33B controls the shutter opening / closing unit 80 to open the shutter 41B (ST12). Next, the feeder control unit 33B controls the pallet moving unit 27 to take a new pallet 7 from the replenishment unit 24B and move it to the parts removal position P or the empty storage units 22, 22U (ST9).

[0101] As explained above, this disclosure discloses the following technical concepts.

[0102] (Technology 1) A tray feeder 20, 20A, 20B is attached to a component mounting device 1, 1A, 1B 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, Replenishment units 24, 24A, 24B are provided in a separate area from the storage units 22, 22U, and are capable of loading and unloading pallets 7 into and from tray feeders 20, 20A, 20B. The system includes a pallet moving unit 27 that removes pallets 7 from supply units 24, 24A, and 24B and moves them to parts removal positions P or storage units 22, 22U, and also moves pallets 7 back to supply units 24, 24A, and 24B. Supply units 24, 24A, and 24B are: An opening 25 for loading and unloading pallets 7 into and out of the supply sections 24, 24A, and 24B from outside the tray feeders 20, 20A, and 20B, Tray feeders 20, 20A, 20B, each having shutters 41, 41A, 41B that open and close, located between the opening 25 and the pallet moving section 27.

[0103] This allows pallets 7 to be loaded into and unloaded from supply units 24, 24A, and 24B without interrupting the assembly work.

[0104] (Technology 2) Supply units 24, 24A, and 24B are: A cover 26 that opens and closes the opening 25, The tray feeder 20, 20A, 20B according to Technical 1, comprising shutter drive units 44, 44A, 44B that close shutters 41, 41A, 41B when cover 26 is opened, and open shutters 41, 41A, 41B when cover 26 is closed.

[0105] As a result, when the cover 26 is opened, the shutters 41, 41A, and 41B are closed, allowing the pallet 7 to be inserted into and removed from the supply units 24, 24A, and 24B without interrupting the mounting work.

[0106] (Technology 3) The shutter drive unit 44 is The tray feeder 20 according to Art 2, having a link mechanism 45 connected to a cover 26 and a shutter 41, which changes the position or orientation of the shutter 41 so that the shutter 41 closes when the cover 26 is opened, and changes the position or orientation of the shutter 41 so that the shutter 41 opens when the cover 26 is closed.

[0107] As a result, when the cover 26 is opened, the shutter 41 closes, allowing the pallet 7 to be inserted into and removed from the supply unit 24 without interrupting the mounting work.

[0108] (Technology 4) The tray feeder 20 described in Technical Reference 3, wherein the link mechanism 45 rotates the shutter 41 so that when the cover 26 rotates and opens, the shutter 41 closes, and when the cover 26 rotates and closes, the shutter 41 opens.

[0109] As a result, when the cover 26 is opened, the shutter 41 closes, allowing the pallet 7 to be inserted into and removed from the supply unit 24 without interrupting the mounting work.

[0110] (Technology 5) The shutter drive unit 44A is A drive contact portion 70 that can contact the cover 26A and a drive link mechanism 60 connected to the shutter 41A, which changes the position or orientation of the shutter 41A so that the shutter 41A opens when the drive contact portion 70 moves toward the shutter 41A, and changes the position or orientation of the shutter 41A so that the shutter 41A closes when the drive contact portion 70 moves toward the cover 26A, The tray feeder 20A according to Technical Reference 2, further comprising: a locking contact portion 72 that can contact the closing cover 26A before the drive contact portion 70; a blocking member 74 that prevents the drive contact portion 70, which is in the closed position of the shutter 41A, from moving in the direction of the shutter 41A; and a locking mechanism 61 which, when the locking contact portion 72 moves in the direction of the shutter 41A, moves the blocking member 74 to a position where it does not block the movement of the drive contact portion 70.

[0111] As a result, the shutter 41A will not open until the cover 26A is closed, allowing the pallet 7 to be inserted into and removed from the supply unit 24A without interrupting the mounting work.

[0112] (Technology 6) The shutter drive unit 44A has a plurality of locking contact parts 72, The tray feeder 20A according to Art 5, wherein at least two locking contacts 72 are positioned apart in a direction intersecting the direction of movement of the pallet 7.

[0113] As a result, the shutter 41A cannot be opened without touching multiple locking contacts 72 with both hands, preventing the insertion of one hand into the shutter 41A, and allowing the pallet 7 to be inserted into and removed from the supply unit 24A without stopping the mounting work.

[0114] (Technology 7) The shutter drive unit 44B is An opening / closing detection unit 36B detects the opening and closing of the cover 26, It has a shutter opening / closing unit 80 that changes the position or orientation of the shutter 41B to open and close the shutter 41B, The shutter opening / closing section 80 is When the opening / closing detection unit 36B detects that the cover 26 has opened, it changes the position or orientation of the shutter 41B so that the shutter 41B closes. The tray feeder 20B according to Technology 2, wherein when the opening / closing detection unit 36B detects that the cover 26 has closed, the position or orientation of the shutter 41B is changed so that the shutter 41B opens.

[0115] As a result, when the cover 26 is opened, the shutter 41B closes, allowing the pallet 7 to be inserted into and removed from the supply unit 24B without interrupting the mounting work.

[0116] (Technology 8) The tray feeder 20, 20A, 20B described in any of the Techniques 2 to 7, wherein the distance L1 between the closed covers 26, 26A and the closed shutters 41, 41A, 41B is longer than the length L2 of the pallet 7 inserted through the opening 25.

[0117] As a result, the pallets 7 inserted into the supply units 24, 24A, and 24B do not interfere with the covers 26, 26A and the shutters 41, 41A, and 41B, and the pallets 7 can be inserted into and removed from the supply units 24, 24A, and 24B without stopping the mounting work.

[0118] (Technology 9) Component mounting devices 1, 1A, 1B move the pallet 7 from the storage section 22, 22U, which stores the pallet 7 that holds the tray 6 containing the component D, to the component removal position P, and remove the component D with the mounting head 10 and mount it on the substrate B, Resupply units 24, 24A, and 24B are located in a separate area from the storage units 22 and 22U, and allow for the loading and unloading of pallets 7. The system includes a pallet moving unit 27 that removes pallets 7 from supply units 24, 24A, and 24B and moves them to parts removal positions P or storage units 22, 22U, and also moves pallets 7 back to supply units 24, 24A, and 24B. Supply units 24, 24A, and 24B are: An opening 25 for loading and unloading pallets 7 into and out of the supply sections 24, 24A, and 24B from outside the component mounting devices 1, 1A, and 1B, A component mounting apparatus 1, 1A, 1B, having shutters 41, 41A, 41B located between an opening 25 and a pallet moving section 27, which open and close.

[0119] This allows pallets 7 to be loaded into and unloaded from supply units 24, 24A, and 24B without interrupting the assembly work. [Industrial applicability]

[0120] 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]

[0121] 1, 1A, 1B Component mounting equipment 6 trays 7 Palettes 10 Mounting Head 20, 20A, 20B Tray Feeder 22, 22U storage compartment 24, 24A, 24B Supply Department 25 Opening 26, 26A cover 27 Pallet moving section 36, 36A, 36B Open / Close Detection Unit 41, 41A, 41B shutters 44, 44A, 44B Shutter drive unit 45 Link mechanism 60 Drive linkage mechanism 61 Locking mechanism 70 Drive contact part 72 Lock contact part 74 Blocking member 80 Shutter opening / closing mechanism B substrate D parts L1 interval L2 Length P Parts removal location

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 tray feeder having a shutter that opens and closes, located between the opening and the pallet moving part.

2. The aforementioned supply unit is A cover that opens and closes the aforementioned opening, The tray feeder according to claim 1, further comprising a shutter drive unit that closes the shutter when the cover is opened and opens the shutter when the cover is closed.

3. The shutter drive unit is, The tray feeder according to claim 2, further comprising a link mechanism connected to the cover and the shutter, which changes the position or orientation of the shutter so that when the cover is opened the shutter closes, and changes the position or orientation of the shutter so that when the cover is closed the shutter opens.

4. The tray feeder according to claim 3, wherein the link mechanism rotates the shutter so that it closes when the cover rotates to open, and rotates the shutter so that it opens when the cover rotates to close.

5. The shutter drive unit is, A drive contact portion that can contact the cover and a drive link mechanism connected to the shutter, which changes the position or orientation of the shutter so that the shutter opens when the drive contact portion moves toward the shutter, and changes the position or orientation of the shutter so that the shutter closes when the drive contact portion moves toward the cover, A tray feeder according to claim 2, comprising: a locking contact portion that can contact the closing cover before the drive contact portion; a blocking member that prevents the drive contact portion, which is in the closed position of the shutter, from moving toward the shutter, and a locking mechanism which, when the locking contact portion moves toward the shutter, moves the blocking member to a position where it does not block the movement of the drive contact portion.

6. The shutter drive unit has a plurality of lock contact portions, The tray feeder according to claim 5, wherein at least two of the locking contacts are arranged apart in a direction intersecting the direction of movement of the pallet.

7. The shutter drive unit is, An opening / closing detection unit for detecting the opening and closing of the cover, 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, When the opening / closing detection unit detects that the cover has opened, it changes the position or orientation of the shutter so that the shutter closes. The tray feeder according to claim 2, wherein when the opening / closing detection unit detects that the cover has been closed, the position or orientation of the shutter is changed so that the shutter opens.

8. The tray feeder according to any one of claims 2 to 7, wherein the distance between the closed cover and the closed shutter is longer than the length of the pallet inserted through the opening.

9. 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 component mounting device having a shutter that is located between the opening and the pallet moving part and opens and closes.

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