Component alignment device, component mounting system, component alignment method, and component mounting method

Abstract

By removing the components remaining on the pallet, the work efficiency of the process of mounting the components on the workpiece is improved. [Solution] A component alignment device 2 is provided which is capable of mounting a plurality of components P supplied in irregular postures, and which has storage sections 8 capable of housing the components P arranged at predetermined intervals, a drive mechanism 9 capable of rocking the pallet 7 in a predetermined direction, and a wiper 11 which, after the drive mechanism 9 has stopped, moves in the predetermined direction along the mounting surface of the components P on the pallet 7 and is capable of removing from the mounting surface any components P not housed in the storage sections 8.

Description

[Technical field]

[0001] The present invention relates to a component alignment device, a component mounting system, a component alignment method, and a component mounting method. [Background technology]

[0002] Conventionally, there has been provided a component alignment device that includes a vibration means that applies vibration to an alignment pallet by axial swing motion of an eccentric attached to the rotating shaft of a motor fixed to a base, thereby aligning components (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4507321 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the part alignment device disclosed in Patent Document 1, when a motor is driven, the parts vibrate and reciprocate on the alignment pallet, during which the parts fit into frames formed on the alignment pallet and are aligned.

[0005] However, according to the part alignment device disclosed in Patent Document 1, if the number of parts placed on the alignment pallet is greater than the number of molds, parts that are not contained within the molds and are not aligned will remain on the alignment pallet.

[0006] When misaligned components are left on the pallet, there is a problem in that during the mounting process in which the aligned components are mounted on the workpiece, the remaining components may come into contact with the mounting head that picks up the components from the aligned pallet, which may interfere with the pick-up of the components.

[0007] Furthermore, when removing components aligned on a pallet and mounting them on a workpiece, the pallet must be turned over, which causes the pallet structure to become complicated.

[0008] Therefore, an object of the present invention is to provide a component alignment device, a component mounting system, a component alignment method, and a component mounting method that can improve the work efficiency of the mounting process by removing components remaining on a pallet. [Means for solving the problem]

[0009] In order to achieve the above object, the component alignment device of the present invention comprises: a pallet capable of mounting a plurality of components supplied in irregular positions and having recesses arranged at predetermined intervals in which the components can be accommodated; a drive means capable of rocking the pallet in a predetermined direction; and a removal means capable of moving in a predetermined direction along a mounting surface of the components on the pallet after the drive means has stopped, and removing from the mounting surface those of the components that are not accommodated in the recesses. and a storage means capable of storing the part removed from the placement surface by the removing means, the storage means being disposed contiguous with the placement surface and at approximately the same height as the placement surface. . Effect of the Invention

[0010] According to the present invention, the components remaining on the pallet can be removed, and the productivity of the mounting process can be improved.

[0011] Furthermore, in contrast to a method of tilting the mounting surface of the pallet in order to remove parts remaining on the pallet, the present invention makes it possible to remove the parts remaining on the pallet without complicating the structure of the pallet. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram showing an example of an overall configuration of a component mounting system according to a first embodiment of the present invention. [Diagram 2] 1 is a diagram showing an example of a configuration of a component aligning device in a first embodiment of the present invention. [Diagram 3] 1 is a diagram showing an example of a configuration of a component aligning device in a first embodiment of the present invention. [Figure 4] 1 is a diagram showing an example of a configuration of a component aligning device in a first embodiment of the present invention. [Diagram 5] 1 is a diagram showing an example of a configuration of a component aligning device in a first embodiment of the present invention. [Figure 6] 1 is a diagram showing an example of a configuration of a component aligning device in a first embodiment of the present invention. [Figure 7] 1 is a diagram showing an example of a configuration of a component aligning device in a first embodiment of the present invention. [Figure 8] FIG. 1 is a diagram showing an example of a configuration of a mounting device according to a first embodiment of the present invention. [Figure 9] FIG. 1 is a diagram showing an example of a configuration of a mounting device according to a first embodiment of the present invention. [Figure 10] 1 is a diagram showing an example of a configuration of a holding jig in a first embodiment of the present invention. [Figure 11] 4 is a flowchart showing an example of a main processing procedure executed in the component mounting system in the first embodiment of the present invention. [Figure 12] 5 is a flowchart showing an example of a processing procedure of a swinging step executed in the component mounting system in the first embodiment of the present invention. [Figure 13] 5 is a flowchart showing an example of a processing procedure of a removal step executed in the component mounting system in the first embodiment of the present invention. [Figure 14] 5 is a flowchart showing an example of a processing procedure of a pick-up process executed in the component mounting system in the first embodiment of the present invention. [Figure 15] 5 is a flowchart showing an example of a processing procedure of a mounting process executed in the component mounting system in the first embodiment of the present invention. [Figure 16] 5 is a flowchart showing an example of a processing procedure of an initialization step executed in the component mounting system in the first embodiment of the present invention. [Figure 17] FIG. 11 is a diagram showing an example of the overall configuration of a component mounting system according to a second embodiment of the present invention. [Figure 18] FIG. 11 is a sequence diagram showing an example of a processing procedure executed in the component mounting system according to the second embodiment of the present invention. [Figure 19] FIG. 13 is a diagram showing an example of the overall configuration of a component mounting system according to a third embodiment of the present invention. [Figure 20] FIG. 13 is a diagram showing an example of the configuration of a component mounting system according to a third embodiment of the present invention. [Figure 21] FIG. 13 is a diagram showing an example of the configuration of a component aligning device according to a third embodiment of the present invention. [Figure 22] FIG. 13 is a sequence diagram showing an example of a processing procedure executed in the component mounting system according to the third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (Findings Contained in the Present Invention) The component alignment device, the component mounting system, the component alignment method, and the component mounting method according to the present invention include the following inventions.

[0014] The component alignment device of the present invention may further include a storage means capable of storing the components removed from the mounting surface by the removal means, and the removal means may be configured to move along the mounting surface while pressing against the mounting surface vertically, and to be capable of moving up to above the storage means.

[0015] According to this configuration, parts that are not accommodated in the recesses on the pallet and remain there can be suitably stored in the storage means.

[0016] In the component aligning device according to the present invention, the removing means may be configured to be movable with a bottom surface thereof maintained at a predetermined height from the flat portion of the placement surface, the height being configured to be smaller than a size of the components.

[0017] Such a configuration allows the removal means to move on the pallet without friction.

[0018] The component mounting system of the present invention may be a component mounting system comprising a component alignment device having any of the above-described features, and a mounting device that picks up the components from the component alignment device and mounts them on a workpiece, wherein the mounting device comprises a mounting head that picks up the components accommodated in the recesses and mounts the picked-up components on the workpiece, a holding jig that holds the workpiece, and a moving means that, when the components are picked up by the mounting head, moves the mounting head to a position corresponding to the workpiece held by the holding jig, wherein the mounting head is configured to be able to pick up the components by a plurality of pick-up claws that are arranged corresponding to the recesses, and the holding jig holds the workpiece in a manner corresponding to the arrangement of the pick-up claws.

[0019] With this configuration, it is possible to suitably mount the aligned components on the workpiece held by the holding jig.

[0020] The component alignment method of the present invention may be a component alignment method for arranging a plurality of components supplied in irregular postures on a pallet having recesses capable of accommodating the components, the method including a rocking step of rocking the pallet in a predetermined direction, and a removal step of, after performing the rocking step, moving a wiper along the component placement surface on the pallet to remove from the placement surface those of the components that are not accommodated in the recesses.

[0021] According to this configuration, the components remaining on the pallet can be removed, and the productivity of the mounting process can be improved.

[0022] The part alignment method of the present invention may be characterized in that a storage means capable of storing the parts removed from the placement surface is arranged adjacent to the pallet, and the removal step includes moving along the placement surface while pressing vertically against the placement surface until the part is above the storage means.

[0023] With this configuration, it is possible to efficiently remove the parts remaining on the pallet.

[0024] The component mounting method of the present invention includes a rocking step of rocking a pallet having recesses capable of accommodating a plurality of components supplied in irregular postures in a predetermined direction; a removal step of, after performing the rocking step, moving a wiper along the component mounting surface on the pallet to remove from the mounting surface those of the components that are not accommodated in the recesses; a pick-up step of, once the removal step has been performed, picking up the components accommodated in the recesses by a mounting head having a plurality of pick-up claws arranged in correspondence with the recesses; and a mounting step of mounting the components picked up by the mounting head onto a workpiece held by a holding jig in an arrangement corresponding to the arrangement manner of the mounting head.

[0025] With this configuration, it is possible to suitably mount the aligned components on the workpiece held by the holding jig.

[0026] (First embodiment) Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. Note that the same components or members are designated by the same reference numerals, and duplicated descriptions thereof will be omitted.

[0027] 1 is a diagram showing an example of the configuration of a component mounting system 1 shown in the first embodiment. In the following description, the horizontal direction, which is the left-right direction of the component alignment device 2, is defined as the X-axis direction, and the horizontal direction perpendicular to the X-axis direction, which is the front-rear direction of the component alignment device 2, is defined as the Y-axis direction. Moreover, the vertical direction perpendicular to the X-axis and Y-axis directions is defined as the Z-axis direction.

[0028] The component mounting system 1 shown in the first embodiment includes a component alignment device 2 that aligns components P, and a mounting device 3 that picks up the components P from the component alignment device 2 and mounts them on a workpiece W.

[0029] The component alignment device 2 includes a pallet 7 having a storage section 8 capable of storing components P, a drive mechanism 9 capable of rocking the pallet 7 in a predetermined direction, and a wiper 11 for removing components P that are left on the pallet 7 and are not stored in the storage section 8.

[0030] The mounting device 3 includes a mounting head 20 that picks up a component P stored on a pallet 7 and mounts it on a workpiece W, a holding jig 22 that holds the workpiece W, and a first transport unit 24 that moves the mounting head 20 to a position corresponding to the workpiece W held by the holding jig 22.

[0031] In the component mounting system 1 shown in the first embodiment, a plurality of components P are supplied in irregular postures from a supply feeder 6 onto a mounting surface of a pallet 7. On the mounting surface of the pallet 7, storage sections 8 that are recessed downward in accordance with the shapes of the components P are provided at predetermined intervals. As an example of the storage sections 8, recesses may be formed.

[0032] When a plurality of components P are supplied onto the mounting surface of the pallet 7, the component alignment device 2 drives the drive mechanism 9 to rock the pallet 7 in a predetermined direction. As a result, the components P slide on the mounting surface of the pallet 7 and are stored one by one in the storage units 8 arranged on the mounting surface.

[0033] When the pallet 7 is rocked for a predetermined time by the driving mechanism 9, one or more components P are accommodated in the accommodation unit 8, and the components P that were not accommodated are left on the placement surface. When the driving mechanism 9 stops, the wiper 11 moves along the placement surface on the pallet 7 to remove the remaining components P from the placement surface.

[0034] When the remaining components P are removed by the wiper 11, the mounting device 3 moves the mounting head 20 onto the pallet 7 and picks up the components P accommodated in the accommodation section 8 with the pickup claws .

[0035] In the example shown in FIG. 1, the mounting head 20 approaches the pallet 7 from the front and picks up the component P accommodated in the accommodation unit 8.

[0036] The holding jig 22 is provided with a workpiece holding portion 30 for holding the workpiece W. The workpiece holding portion 30 is arranged in correspondence with the storage portion 8 of the pallet 7. The mounting device 3 uses the first transport portion 24 to bring the mounting head 20 close to the workpiece W held by the workpiece holding portion 30, and mounts the component P.

[0037] 1, the component alignment device 2 removes, from the mounting surface, the components P that are left without being accommodated in the accommodation section 8 of the pallet 7. This enables the mounting head 20 to pick up the components P accommodated in the accommodation section 8 without being hindered by the remaining components P.

[0038] A control device (not shown) that controls the operation of the component mounting system 1 in the first embodiment may be configured with known equipment such as a personal computer (PC) or a programmable logic controller (PLC).

[0039] (Parts Alignment Device) Fig. 2 is a diagram showing an example of the configuration of the component alignment device 2 in the first embodiment. Fig. 2 shows an example of the planar configuration of the component alignment device 2. The storage units 8 are disposed at predetermined intervals in each of the X-axis and Y-axis directions on the placement surface side of the pallet 7.

[0040] The storage section 8 is configured to be recessed downward in the Z-axis direction. In the example shown in Fig. 2, the storage section 8 has a long side arranged in the Y-axis direction in a plan view and a short side arranged in the X-axis direction. The storage section 8 may have a convex groove formed on the short side.

[0041] As an example, the storage section 8 may be provided with a convex groove into which the pick-up claw 28 can retract when the pick-up claw 28 enters the storage section 8 and expands in the Y-axis direction, i.e., the longitudinal direction, to pick up the component P.

[0042] Alternatively, the receiving portion 8 may have a convex groove on the long side. The receiving portion 8 may have a convex groove into which the pick-up claws 28 can be retracted when the pick-up claws 28 are opened.

[0043] Furthermore, unlike the above, the storage section 8 may be configured to have a circular shape in plan view. In this case, the storage section 8 is configured to be cylindrically recessed downward in the Z-axis direction. The storage section 8 may have a convex groove in a desired direction that allows the pickup claws 28 to retract when the pickup claws 28 are opened. The convex grooves may be disposed at positions facing each other across the center of the storage section 8 in plan view.

[0044] 2, the storage unit 13 is disposed at the rear end of the pallet 7 so as to be continuous with the pallet 7. The storage unit 13 has a wall rising from the end of the bottom surface. The specific configuration of the storage unit 13 will be described later.

[0045] The wiper 11 is a member capable of removing, from the mounting surface, parts P that are left behind without being stored in the storage section 8. The wiper 11 is disposed movably on the mounting surface of the pallet 7. The wiper 11 moves in a predetermined direction on the mounting surface of the pallet 7 after the drive mechanism 9 has stopped. In the example shown in FIG. 2, the wiper 11 is disposed behind the pallet 7, and configured to be movable forward on the mounting surface of the pallet 7.

[0046] The wiper 11 is configured to be movable on the pallet 7 by a known driving means such as a motor. The wiper 11 may be disposed in engagement with the pallet 7, or may be separated from the pallet 7 and disposed adjacent to the front or rear of the pallet 7.

[0047] When wiper 11 moves on the placement surface and reaches reservoir 13, it starts moving in the opposite direction and stops when it returns to its initial position.

[0048] The width of wiper 11 in the X-axis direction is smaller than the width of pallet 7. Pallet 7 has walls on the left and right sides that sandwich the mounting surface. This is to prevent parts P supplied from supply feeder 6 from falling off pallet 7. Since wiper 11 moves on the mounting surface sandwiched between the left and right walls of pallet 7, it is configured to be smaller than the width of pallet 7 in the X-axis direction including the walls.

[0049] Fig. 3 is a diagram showing an example of the configuration of the component alignment device 2 constituting the component mounting system 1 in the first embodiment. In the example shown in Fig. 3, the drive mechanism 9 is disposed below the pallet 7 and configured to be able to swing the pallet 7 in a predetermined direction. The drive mechanism 9 is configured by a known drive means such as a motor. The drive mechanism 9 may be disposed at a desired position such as to the side or above the pallet 7.

[0050] The driving mechanism 9 may be composed of a plurality of motors. As an example, the driving mechanism 9 may be composed of a motor that rocks the pallet in the X-axis direction and a motor that rocks the pallet in the Y-axis direction.

[0051] In the first embodiment, the drive mechanism 9 rocks the pallet 7 in the Y-axis direction, the X-axis direction, and the Z-axis direction. As a result, the parts P supplied in an irregular position onto the mounting surface of the pallet 7 slide irregularly in the front-back and left-right directions, or up-down directions on the mounting surface.

[0052] The drive mechanism 9 may rock the pallet 7 in either the Y-axis direction or the X-axis direction. As an example, the drive mechanism 9 may rock the pallet 7 in the Y-axis direction for a predetermined time, and then rock the pallet 7 in the X-axis direction for a predetermined time. Alternatively, the drive mechanism 9 may rock the pallet 7 in both the X-axis and Y-axis directions simultaneously.

[0053] Some of the multiple parts P are accommodated in the accommodation sections 8 while sliding irregularly in the front-back, left-right, and up-down directions on the mounting surface. This allows the parts P to be aligned on the mounting surface of the pallet 7. Furthermore, accommodating and aligning the parts P in the accommodation sections 8 by rocking the pallet 7 can prevent parts from becoming jammed when the parts P are supplied from the supply feeder 6.

[0054] Alternatively, unlike the above, the drive mechanism 9 may swing the pallet 7 only in either the Y-axis direction or the X-axis direction, which can simplify the structure of the drive mechanism 9. Alternatively, the drive mechanism 9 may move the pallet 7 up and down in the Z-axis direction.

[0055] The drive mechanism 9 stops after rocking the pallet 7 for a predetermined time. When the drive mechanism 9 stops, the wiper 11 moves on the mounting surface of the pallet 7 toward the storage section 13. As described later, the bottom surface of the wiper 11 may or may not be in contact with the mounting surface of the pallet 7.

[0056] When the wiper 11 moves on the mounting surface of the pallet 7 and reaches above the storage unit 13, it starts moving in the opposite direction and stops when it returns to the initial position. In the component mounting system 1 illustrated in the first embodiment, the wiper 11 waits at the initial position, i.e., at the end opposite the storage unit 13 across the pallet 7, at least until the mounting head 20 picks up the component P stored in the storage unit 8 and moves toward the holding jig 22.

[0057] In the first embodiment, the mounting head 20 approaches the pallet 7 from the front and picks up the components P stored in the storage units 8. While the mounting head 20 is picking up the components P, the wiper 11 waits in the initial position, thereby preventing the wiper 11 from interfering with the pickup operation of the mounting head 20.

[0058] Alternatively, differently from this, the wiper 11 may wait above the storage unit 13 until the mounting head 20 mounts the component P on the workpiece W held by the holding jig 22 .

[0059] When picking up by the mounting head 20 is completed, a plurality of components P are supplied from the supply feeder 6. The number of components P supplied from the supply feeder 6 may be approximately the same as the number of storage sections 8.

[0060] When a plurality of parts P are supplied from the supply feeder 6, the pallet 7 is swung by the drive mechanism 9. When the pallet 7 is swung, the storage section 13 is also swung. The parts P remaining in the storage section 13 slide irregularly on the placement surface together with newly supplied parts P. Some of these parts P are stored in the storage section 8.

[0061] 4A and 4B are diagrams showing an example of the configuration of the component alignment device 2 in the first embodiment. Fig. 4A is an example of an enlarged plan view of the storage section 8. The storage section 8 has a shape corresponding to the shape of the component P. In the first embodiment, the storage section 8 further includes a convex groove on the short side in the Y-axis direction.

[0062] FIG. 4(b) is an example of a side cross-sectional view of the storage unit 8. The storage unit 8 is recessed so that the component P can be placed thereon. The bottom surface of the storage unit 8 has a flat portion in the center where the component P can be placed. The depth of the flat portion may be about 1.5 times the thickness of the component P. With this configuration, when the wiper 11 moves over the top surface of the pallet 7 to remove the remaining components P, the components P stored in the storage unit 8 can be effectively prevented from being scraped out by the wiper 11, and can be held in the storage unit 8.

[0063] The storage section 8 has a deep portion near the peripheral wall. The deep portion is formed to extend downward along the Z axis compared to the flat portion on which the component P can be placed. The deep portion accommodates the pickup claw 28 when the pickup claw 28 enters the storage section 8. The pickup claw 28 can enter below the component P. The pickup claw 28 spreads outward from a state in which the tip is located below the component P, and picks up the component P by lining it.

[0064] Fig. 5 is a diagram showing an example of the configuration of the component aligning device 2 in the first embodiment. Fig. 5 is a diagram showing an example of a side cross section of the component aligning device 2. In the example shown in Fig. 5, the storage section 8 is formed recessed downward from the mounting surface of the pallet 7.

[0065] The storage section 8 is configured to have a size capable of storing one component P. The depth of the storage section 8 in the Z-axis direction is set so that when one component P is stored in the storage section 8, the top surface of the stored component P is at the same height as or lower than the flat portion of the mounting surface. As described above, the depth of the storage section 8 may be configured to be about 1.5 times the thickness of the component P. This configuration makes it possible to prevent the wiper 11 from removing the component P stored in the storage section 8 when the wiper 11 moves over the mounting surface of the pallet 7.

[0066] 5, the bottom surface of storage section 13 is formed to be continuous with or lower than the placement surface of pallet 7. This configuration allows wiper 11 to move smoothly from pallet 7 to storage section 13. Note that, as will be described later, in the first embodiment, storage section 13 may have a different configuration.

[0067] 6 is a diagram showing an example of the configuration of the component aligning device 2 in the first embodiment. 6(a) and 6(b) show different examples regarding the movement mode of the wiper 11.

[0068] 6(a), the wiper 11 moves from the front to the rear of the pallet 7 while contacting the flat portion of the pallet 7. When the wiper 11 is on the mounting surface of the pallet 7, the wiper 11 moves with the bottom surface in contact with the flat portion of the pallet 7. With this configuration, the parts P that are left on the mounting surface without being stored in the storage section 8 can be suitably removed from the mounting surface.

[0069] In FIG. 6(b), unlike the example shown in FIG. 6(a), the wiper 11 moves from the front to the rear of the pallet 7 without contacting the pallet 7. In FIG. 6(b), the wiper 11 is configured to be movable with its bottom surface maintained at a predetermined height from the flat portion of the mounting surface. As an example, the wiper 11 may be configured to be movable with its height from the flat portion maintained at a value smaller than the thickness of the component P. With this configuration, it is possible to prevent the bottom surface of the wiper 11 from being worn down due to friction with the pallet 7. In addition, since the wiper 11 moves at a height lower than the thickness of the component P left on the mounting surface of the pallet 7, the left component P can be suitably removed from the mounting surface.

[0070] Fig. 7 is a diagram showing an example of the configuration of the component alignment device 2 in the first embodiment. Fig. 7 shows an enlarged cross section of the vicinity of the storage section 13. In the example shown in Fig. 7(a), the storage section 13 is formed substantially horizontally and continuously with the mounting surface of the pallet 7. With this configuration, the components P once removed to the storage section 13 by the wiper 11 can slide on the mounting surface of the pallet 7 together with newly supplied components P as the pallet 7 swings.

[0071] 7(a), the bottom surface of the storage unit 13 is inclined downward toward the rear. Therefore, the bottom surface of the storage unit 13 is gradually lower toward the rear than the bottom surface of the pallet 7.

[0072] With this configuration, it is possible to prevent the part P removed from the mounting surface of the pallet 7 by the wiper 11 from moving again toward the mounting surface of the pallet 7 due to some external force.

[0073] (Mounting Equipment) Next, a configuration of the mounting device 3 constituting the component mounting system 1 in the first embodiment will be described. Fig. 8 is a diagram showing an example of the configuration of the mounting device 3 in the first embodiment. The mounting device 3 is a device that picks up the component P from the component alignment device 2 and mounts it on the workpiece W.

[0074] The mounting device 3 includes a mounting head 20. The mounting head 20 is a member that picks up the components P accommodated in the accommodation unit 8. The mounting device 3 includes a first transport unit 24 that is capable of moving the mounting head 20.

[0075] The mounting head 20 approaches the storage unit 8 by the first transport unit 24, and picks up the component P stored in the storage unit 8. The mounting head 20 further includes a pick-up claw 28 capable of picking up the component P.

[0076] In the example shown in Fig. 8, the pickup claw 28 is composed of two rods that can be opened and closed. The two rods that compose the pickup claw 28 are capable of changing the distance between them. The pickup claw 28 may be configured so that the distance between the two rods can be changed by magnetic force, or may be configured by a solenoid. Alternatively, the pickup claw 28 may be configured so that the distance between the two rods can be changed by water pressure, oil pressure, or air pressure.

[0077] When the component P is picked up from the storage section 8 by the pick-up claws 28, the mounting head 20 mounts the picked-up component P on the workpiece W held by the holding jig 22. The first transport unit 24 is a component that, when the component P is picked up by the mounting head 20, moves the mounting head 20 to a position corresponding to the workpiece W held by the holding jig 22. The first transport unit 24 is a moving means for the mounting head 20, and is constituted by a known mechanism such as a manipulator.

[0078] The first transport unit 24 moves the mounting head 20 to a position that is registered in advance by teaching. As an example, the arrangement positions of the storage units 8 formed on the pallet 7 are registered in advance, and the first transport unit 24 moves the mounting head 20 to the arrangement positions of the corresponding storage units 8.

[0079] Fig. 9 is a diagram showing an example of the configuration of the mounting device 3 in the first embodiment. Fig. 9(a) is a front view of the mounting head 20 and the first transport unit 24 as viewed from the Y-axis direction. The mounting head 20 has a plurality of pick-up claws 28 arranged in correspondence with the storage units 8. The mounting head 20 is configured to be able to pick up components P stored in the storage units 8 by the plurality of pick-up claws 28.

[0080] 9(a), the pick-up claws 28 are disposed on the underside of the mounting head 20. The pick-up claws 28 may be formed to protrude downward from the mounting head 20. The pick-up claws 28 are disposed at predetermined intervals corresponding to the storage portions 8 formed in the pallet 7.

[0081] In the illustrated example, the pickup claws 28 are arranged in a row in the X-axis direction, but the present invention is not limited to this, and the mounting head 20 may be provided with multiple rows of pickup claws 28 in the X-axis direction. Alternatively, the mounting head 20 may be provided with multiple rows of pickup claws 28 in the Y-axis direction.

[0082] Fig. 9(b) is a side view of the mounting head 20 as viewed from the X-axis direction. In the example shown in Fig. 9(b), the pickup claws 28 are configured in a rod shape with approximately the same cross-sectional area in the XY plane. The pickup claws 28 may be configured with two rods, and the distance between the rods may be expandable and contractible in the Y-axis direction.

[0083] When the mounting head 20 approaches the storage section 8, it causes the pickup claws 28 to enter the storage section 8. The pickup claws 28 may expand the distance between each other to expand and pick up the component P from the inside.

[0084] Alternatively, differently from this, the pickup claws 28 may pick up the component P by clamping it from the front and rear. The manner in which the mounting head 20 picks up the component P can be selected according to the shape, material, etc. of the component P in addition to the manner described above.

[0085] 9(c) is a diagram showing an example of the configuration of the pick-up claw 28 different from the above-mentioned embodiment. The pick-up claw 28 may be configured in a hook shape with a lower end extending outward. The size of the hook-shaped part at the lower end is configured to be a size that can be accommodated in the accommodation section 8.

[0086] Fig. 10 is a diagram showing an example of the configuration of the mounting device 3 constituting the component mounting system 1 in the first embodiment. Fig. 10 shows an example of the form of the workpiece W held by the holding jig 22. The holding jig 22 is a member capable of holding the workpiece W. In the example shown in Fig. 10, the holding jig 22 has a workpiece holding portion 30 corresponding to the shape of the workpiece W on its upper surface.

[0087] The workpiece holding parts 30 are arranged in accordance with the arrangement of the storage parts 8 on the pallet 7. In the example of the first embodiment, the holding jig 22 is provided with the same number of workpiece holding parts 30 as the number of storage parts 8 arranged in the X-axis direction.

[0088] With this configuration, the mounting head 20 moves to the holding jig 22 while holding the component P picked up from the storage section 8, and can efficiently mount the component P on the workpiece W held by the workpiece holding section 30.

[0089] When the components P are mounted on the workpiece W by the mounting head 20 and the pick-up claws 28, the holding jig 22 moves to the next process, and a new holding jig 22 without a component P mounted thereon is supplied to the same position. Note that, although an example of an arrangement in which the workpiece holding parts 30 are formed in a single row in the Y-axis direction is shown in Fig. 10, the present invention is not limited to this, and the workpiece holding parts 30 may be formed in multiple rows in the Y-axis direction as well.

[0090] (Processing procedure of component mounting system) Next, a process procedure in the component mounting system 1 in the first embodiment will be described. Fig. 11 is a flowchart showing an example of a main process procedure executed by the component mounting system 1 in the first embodiment. The processes performed by each device shown below are executed based on commands transmitted from a control unit (not shown).

[0091] The component mounting system 1 first supplies components P from the supply feeder 6 to the pallet 7 (step S1). When the components P are supplied to the pallet 7, the component alignment device 2 executes a shaking step of driving the drive mechanism 9 to shake the pallet 7 (step S2). The specific processing procedure of the shaking step (step S2) will be described later.

[0092] After the shaking step (step S2) is performed, the component alignment device 2 then performs a removal step (step S3) to remove the components P remaining on the placement surface of the pallet 7. The specific processing procedure of the removal step (step S3) will be described later.

[0093] After the removal step (step S3) is performed, the mounting device 3 performs a pick-up step of picking up the component P from the pallet 7 (step S4). A specific processing procedure of the pick-up step (step S4) will be described later.

[0094] After the pick-up step (step S4) is executed, the mounting device 3 then executes a mounting step (step S5) of mounting the component P on the workpiece W. A specific processing procedure of the mounting step (step S5) will be described later.

[0095] The processing procedure shown in FIG. 11 shows an example in which a mounting device executes a pick-up process (step S4) in which components P are picked up one row at a time when multiple rows of storage sections 8 are arranged on a pallet 7 in the Y-axis direction.

[0096] When the mounting process (step S5) is performed, the control unit increments (adds) the count value (step S6). Then, it is determined whether the count value reaches a predetermined value (step S7). Here, the predetermined value is the number of rows of the containers 8 in the Y-axis direction on the pallet 7.

[0097] If the count value is a predetermined value (YES in step S7), the control unit executes an initialization process to initialize the placement, etc. of each device that constitutes the component mounting system 1 (step S8), then returns to step S1, and repeatedly executes the above-mentioned processing from step S1 onwards.

[0098] On the other hand, if the count value is not the predetermined value (NO in step S7), this means that picking up of parts P from all storage sections 8 on the pallet 7 has not been completed, so the process returns to the pick-up process (S4) and repeatedly executes the processes following the pick-up process (step S4) in which parts P are picked up from the storage sections 8 in the row corresponding to the count value.

[0099] Meanwhile, when the mounting process (step S5) is performed, the mounting device 3 moves the holding jig 22 on which the component P is mounted to the work W (step S9), positions a new holding jig 22 for holding the work W on which the component P has not been mounted (step S10), and returns to the pick-up process (S4), repeatedly executing the subsequent processing for the number of rows in the storage section 8.

[0100] 12 is a flowchart showing an example of a specific processing procedure of the rocking step (step S2 in FIG. 11) in the first embodiment. Components P are supplied in irregular postures on the mounting surface of the pallet 7, and the component alignment device 2 starts rocking the pallet 7 (step S11).

[0101] In the first embodiment, the component alignment device 2 rocks the pallet 7 in some or all of the X-axis direction (left-right direction), Y-axis direction (front-back direction), and Z-axis direction (up-down direction). Then, when a predetermined time has elapsed after the start of the rocking (step S13), the component alignment device 2 stops the rocking of the pallet 7 (step S15) and ends the rocking process.

[0102] 13 is a flow chart showing an example of a specific processing procedure of the removing step (step S3 in FIG. 11) in the first embodiment. When the shaking step (step S2 in FIG. 11) is executed, the component alignment device 2 starts moving the wiper 11 (step S21). The wiper 11 moves along the mounting surface of the pallet 7. The wiper 11 may move toward the storage section 13 along the mounting surface of the pallet 7.

[0103] When the wiper 11 reaches a predetermined position (step S23), the component alignment device 2 returns the wiper 11 to its initial position (step S25). As an example, the component alignment device 2 may move the wiper 11 in the opposite direction to the storage section 13 and return it to its initial position. When the wiper 11 returns to its initial position, the component alignment device 2 stops the wiper 11 (step S27) and ends the removal process. By executing such a processing procedure, the components P remaining on the mounting surface of the pallet 7 without being stored in the storage section 8 can be removed from the mounting surface.

[0104] 14 is a flowchart showing an example of a specific processing procedure of the pick-up process (step S4 in FIG. 11) in the first embodiment. The pick-up process is a process in which the mounting head 20 and the pick-up claw 28 pick up the component P accommodated in the accommodation section 8. After the removal process (step S3 in FIG. 11) is executed, the mounting device 3 starts moving the mounting head 20 (step S31).

[0105] When the mounting head 20 reaches the predetermined position (step S33), the mounting device 3 stops the mounting head 20 (step S35). In the first embodiment, the above of the storage unit 8 disposed on the mounting surface of the pallet 7 can be set as an example of the predetermined position.

[0106] When the mounting head 20 stops at a predetermined position where pickup is possible, the mounting device 3 picks up the component P with the mounting head 20 and the pickup claw 28 (step S37) to end the pickup process. The mounting head 20 and the pickup claw 28 may move up and down in the Z-axis direction.

[0107] 15 is a flowchart showing an example of a specific processing procedure of the mounting process (step S5 in FIG. 11) in the first embodiment. The mounting process is a process of mounting a component P picked up by the mounting head 20 onto a workpiece W held by a holding jig 22.

[0108] In the mounting process (step S5), the movement of the mounting head 20 is started (step S41), and when the mounting head 20 reaches a predetermined position (step S43), the mounting device 3 stops the mounting head 20 (step S45). As an example of the predetermined position in the first embodiment, it is possible to set the position above the workpiece W held by the holding jig 22.

[0109] When the mounting head 20 is stopped (step S45), the component P is mounted on the workpiece W (step S47) to end the mounting process. As an example of a mounting method, the mounting head 20 may be lowered and the pickup claws 28 may be opened and closed to mount the component P on the workpiece W.

[0110] 16 is a flowchart showing an example of a specific processing procedure of the initialization step (step S8 in FIG. 11) in the first embodiment. After executing the mounting step (step S5 in FIG. 11), the component mounting system 1 returns the component alignment device 2 and the mounting device 3 constituting the component mounting system 1 to their initial states.

[0111] The control unit resets the count value (step S51). Next, the mounting device 3 moves the mounting head 20 to the initial position (step S53).

[0112] When the initialization step (step S8) is completed, the component mounting system 1 returns to step S1 again (see FIG. 11), supplies a plurality of components P from the supply feeder 6 to the pallet 7, and executes the subsequent processes.

[0113] Second embodiment Next, a second embodiment of the present invention will be described. In the second embodiment, a component mounting system 50 includes a first component alignment device 2a(2) and a second component alignment device 2b(2) that include common hardware.

[0114] 17 is an overall view showing an example of the configuration of a component mounting system 50 in the second embodiment. The first component alignment device 2a(2) and the second component alignment device 2b(2) may be disposed adjacent to each other. The mounting device 3 picks up the components P accommodated in the accommodation units 8 in each of the first component alignment device 2a(2) and the second component alignment device 2b(2) and mounts the components P on the workpieces W.

[0115] In the second embodiment, the first component alignment device 2a(2) and the second component alignment device 2b(2) may execute the rocking step at different times. The first component alignment device 2a(2) and the second component alignment device 2b(2) may execute the removing step at different times.

[0116] The mounting device 3 alternately picks up components P from the first component alignment device 2a(2) and the second component alignment device 2b(2). As an example, when the mounting device 3 finishes the process of picking up components P from the storage section 8 of the first component alignment device 2a(2) and mounting them on the workpiece W, it executes a process of picking up components P from the storage section 8 of the second component alignment device 2b(2) and mounting them on the workpiece W. In other words, when the process of the second component alignment device 2b(2) is finished, the mounting device 3 again executes the process of picking up components P from the storage section 8 of the first component alignment device 2a(2) and mounting them on the workpiece W.

[0117] The operation of each device constituting the component mounting system 50 in the second embodiment will be described. 18 is a sequence diagram showing an example of an operation mode of the component mounting system 50 in the second embodiment. The operations of each device are performed by transmitting commands from a control unit (not shown).

[0118] In the example shown in Fig. 18, first, a plurality of components P are supplied in irregular postures to a pallet 7 of the first component alignment device 2a(2) (process P1). After the components P are supplied, the first component alignment device 2a(2) executes a rocking process to rock the pallet 7 (process P3). The processing procedure of the rocking process (process P3) is similar to the processing procedure described in the first embodiment.

[0119] When the swinging step (process P3) is completed, the first component alignment device 2a(2) executes the removing step (process P5). The procedure of the removing step (process P5) is the same as the procedure described in the first embodiment.

[0120] When the removal process (process P5) is performed in the first component alignment device 2a(2), the mounting device 3 performs a mounting process (process P7) of picking up a component P from the storage section 8 of the first component alignment device 2a(2) and mounting the component P on the workpiece W. In the second embodiment, the processing procedure of the mounting process (process P7) is a processing procedure in which the picking up process and the mounting process in the first embodiment are performed in series.

[0121] When the mounting process (process P7) is completed, the mounting device 3 replaces the holding jig 22 (process P9) and supplies a holding jig 22 that holds a workpiece W on which a component P is not mounted.

[0122] When the removal step (process P5) in the first component alignment device 2a(2) is completed, a plurality of components P are supplied in an irregular position to the pallet 7 of the second component alignment device 2b(2) (process P11). When the components P are supplied, the second component alignment device 2b(2) executes a shaking step (process P13), and when the shaking step (process P13) is completed, executes a removal step (process P15). The shaking step (process P13) and removal step (process P15) in the second component alignment device 2b(2) are similar to the shaking step and removal step in the first component alignment device 2a(2).

[0123] When the mounting device 3 finishes the mounting process (process P7) in the first component alignment device 2a(2), the first component alignment device 2a(2) moves the wiper 11 to the initial position (process P17). When the wiper 11 returns to the initial position, the first component alignment device 2a(2) supplies the components P to the pallet 7 (process P19).

[0124] Then, when the components P are supplied, the first component alignment device 2a(2) executes a shaking step (process P21), and after executing the shaking step (process P21), executes a removing step (process P23).

[0125] After completing the mounting process (process P7) in the first component alignment device 2a(2), the mounting device 3 moves the mounting head 20 to the initial position (process P25) and then performs the mounting process (process P27) in the second component alignment device 2b(2), for which the removal process (process P15) has been completed.

[0126] Upon completing the mounting process (process P27), the mounting device 3 replaces the holding jig 22 (process P29) and supplies a holding jig 22 that holds a workpiece W on which a component P is not mounted. Then, the mounting device 3 moves the mounting head 20 to the initial position (process P31).

[0127] On the other hand, when the mounting process (process P27) by the mounting device 3 is completed and the holding jig 22 is replaced (process P29), the second component alignment device 2b(2) moves the wiper 11 to the initial position (process P31).

[0128] Then, in the second component alignment device 2b(2), the components P are again supplied to the pallet 7, and the shaking step and the removing step are carried out in that order.

[0129] In the example shown in FIG. 18, from the time when the mounting device 3 starts the mounting process (process P7) in which the component P accommodated in the accommodation section 8 of the first component alignment device 2a(2) is mounted on the workpiece W to the time when the mounting head 20 is moved to the initial position (process P25), in the second component alignment device 2b(2), the component P is supplied (process P11), and a shaking process (process P13) and a removal process (process P15) are executed in sequence.

[0130] In addition, during the period from when the mounting device 3 starts the mounting process (process P27) in which the component P accommodated in the accommodation section 8 of the second component alignment device 2b(2) is mounted on the work W to when the mounting head 20 is moved to the initial position (process P31), the first component alignment device 2a(2) supplies the component P (process P19), and sequentially executes a swinging process (process P21) and a removal process (process P23).

[0131] That is, in the component mounting system 50 in the second embodiment, while the mounting process is being performed by the mounting device 3 in either the first component alignment device 2a(2) or the second component alignment device 2b(2), the components P are supplied to the other component alignment device 2, and the shaking process and the removal process are performed in sequence. With this configuration, the efficiency of aligning the components P and mounting them on the workpiece W is improved.

[0132] Third embodiment Next, a third embodiment of the present invention will be described. Fig. 19 is a diagram showing an example of the overall configuration of a component mounting system 70 in the third embodiment of the present invention. In the third embodiment of the present invention, the component mounting system 70 includes a plurality of component alignment devices 2, a removal mechanism 75 including a wiper 80 capable of removing components P remaining on a pallet 7, and a mounting device 3 that mounts the components P accommodated in the accommodation section 8 of the pallet 7 onto a workpiece W.

[0133] 19, the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are disposed adjacent to each other in the X-axis direction. Alternatively, these two component alignment devices 2 may be disposed adjacent to each other in the Y-axis direction.

[0134] Component mounting system 70 in the third embodiment may include a second transport unit 78 that moves third component alignment device 2c(2) and fourth component alignment device 2d(2), which are arranged adjacent to each other, along the arrangement direction.

[0135] 19, component mounting system 70 includes one supply feeder 6 that supplies components P to a pallet 7. In the third embodiment, when either third component alignment device 2c(2) or fourth component alignment device 2d(2) is capable of receiving a supply of components P from supply feeder 6, the other is not capable of receiving a supply of components P from supply feeder 6.

[0136] The third component alignment device 2c(2) and the fourth component alignment device 2d(2) move along the arrangement direction so as to alternately receive the supply of components P from the supply feeder 6. As an example, the third component alignment device 2c(2) and the fourth component alignment device 2d(2) may be configured to be movable to either a first position where the third component alignment device 2c(2) can receive the supply of components P from the supply feeder 6 and the fourth component alignment device 2d(2) cannot receive the supply of components P from the supply feeder 6, or a second position where the third component alignment device 2c(2) cannot receive the supply of components P from the supply feeder 6 and the fourth component alignment device 2d(2) can receive the supply of components P from the supply feeder 6.

[0137] As an example, the first position and the second position may be set as positions shifted from each other by an amount corresponding to the size of the component aligning device 2 in the arrangement direction.

[0138] 19, the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are disposed adjacent to each other in the X-axis direction. When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are moved by the second transport unit 78 in the X-axis direction, which is the arrangement direction, and reach the first position, the third component alignment device 2c(2) can receive the supply of components P from the supply feeder 6 to the pallet 7. On the other hand, at the first position, the fourth component alignment device 2d(2) is not in a position corresponding to the supply feeder 6, and therefore cannot receive the supply of components P from the supply feeder 6 to the pallet 7.

[0139] Next, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) move from the first position to the second position in the X-axis direction, the third component alignment device 2c(2) is not in a position corresponding to the supply feeder 6 and therefore cannot receive the supply of components P from the supply feeder 6 to the pallet 7. On the other hand, at the second position, the fourth component alignment device 2d(2) is in a position corresponding to the supply feeder 6 and therefore can receive the supply of components P from the supply feeder 6 to the pallet 7.

[0140] In the third embodiment, the second transport unit 78 can set the third component alignment device 2c(2) and the fourth component alignment device 2d(2) to either the first position or the second position by moving them in the arrangement direction.

[0141] A component mounting system 70 in the third embodiment includes a removal mechanism 75 capable of removing, from the mounting surface of a pallet 7, components P that are not accommodated in the accommodation units 8. As in the example shown in Fig. 19, the removal mechanism 75 may be disposed to be capable of removing components P remaining on the pallet 7 of the component alignment device 2 that can receive the supply of components P from the supply feeder 6, out of the third component alignment device 2c(2) and the fourth component alignment device 2d(2).

[0142] The removal mechanism 75 further includes a wiper 80 that can come into contact with the placement surface of the pallet 7 and move in a predetermined direction to remove the components P. The wiper 80 can move on the pallet 7 along the placement surface of the components P, and can remove the components P that are left behind without being stored in the storage unit 8.

[0143] In the third embodiment of the component mounting system 70, when either the third component alignment device 2c(2) or the fourth component alignment device 2d(2) receives a supply of components P from the supply feeder 6, the removal mechanism 75 abuts the wiper 80 on the pallet 7 of the component alignment device 2 that has received the supply of components P and moves it toward the storage section 13.

[0144] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are placed at the first position by the second transport unit 78, the third component alignment device 2c(2) is supplied with components P from the supply feeder 6. The removal mechanism 75 is capable of moving the wiper 80 along the placement surface of the pallet 7 of the third component alignment device 2c(2) and removing the components P that are left behind without being stored in the storage unit 8 after a shaking process in which the pallet 7 is shaken in the third component alignment device 2c(2) is performed.

[0145] On the other hand, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are disposed at the second position by the second transport unit 78, the fourth component alignment device 2d(2) is supplied with components P from the supply feeder 6. The removal mechanism 75 is capable of moving the wiper 80 along the placement surface of the pallet 7 of the fourth component alignment device 2d(2) and removing the components P that are left behind without being stored in the storage unit 8 after the rocking step in which the pallet 7 is rocked in the fourth component alignment device 2d(2) is performed.

[0146] A component mounting system 70 in the third embodiment includes a mounting device 3 capable of mounting onto a workpiece W components P aligned by a third component aligning device 2c(2) and a fourth component aligning device 2d(2).

[0147] The mounting device 3 in the third embodiment picks up a component P stored in the storage section 8 from the pallet 7 of the component alignment device 2, which is in a position where it cannot receive the supply of components P from the supply feeder 6, among the third component alignment device 2c (2) and the fourth component alignment device 2d (2).

[0148] The mounting device 3 includes a mounting head 20 that picks up the component P and mounts it on the workpiece. In the third embodiment, the mounting device 3 may include an arm that causes the mounting head 20 to pick up the component P from either the third component alignment device 2c(2) or the fourth component alignment device 2d(2).

[0149] 19, the mounting device 3 may be configured with a SCARA robot or the like that is movable on the XY plane. The mounting device 3 may be configured so that the mounting head 20 can move up and down in the Z-axis direction.

[0150] Fig. 20 is a diagram showing an example of the configuration of a component mounting system 70 in the third embodiment. Fig. 20 is a schematic plan view of the component mounting system 70. In the example shown in Fig. 20, the mounting device 3 includes an arm that is movable on the XY plane.

[0151] The mounting head 20 is movable within a movable area F1 in accordance with the movable area of ​​the arm. The movable area F1 includes both the first position and the second position to which the third component alignment device 2c(2) and the fourth component alignment device 2d(2) can be moved.

[0152] 20, the supply feeder 6 and the removal mechanism 75 are arranged side by side in the Y-axis direction. When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the first position, the third component alignment device 2c(2) can receive the supply of components P from the supply feeder 6. Then, after the rocking process is performed in the third component alignment device 2c(2), the removal mechanism 75 can remove the components P remaining on the pallet 7.

[0153] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the second position, the fourth component alignment device 2d(2) can receive the supply of components P from the supply feeder 6. After the rocking process is performed in the fourth component alignment device 2d(2), the removal mechanism 75 can remove the components P remaining on the pallet 7.

[0154] The mounting device 3 moves within the movable area F to move the mounting head 20 so as to approach the component alignment device 2 that is in a position where it cannot receive the supply of components P from the supply feeder 6. In the example shown in FIG. 20, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the first position, the mounting head 20 approaches the fourth component alignment device 2d(2) that is in a position where it cannot receive the supply of components P from the supply feeder 6. The mounting head 20 picks up a component P stored in the storage section 8 of the pallet 7 of the fourth component alignment device 2d(2) and mounts it on the workpiece W.

[0155] On the other hand, when the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the second position, the mounting head 20 approaches the third component alignment device 2c(2), which is in a position where it cannot receive the supply of components P from the supply feeder 6. The mounting head 20 picks up a component P stored in the storage section 8 of the pallet 7 of the third component alignment device 2c(2) and mounts it on the workpiece W.

[0156] Fig. 21 is a diagram showing an example of the configuration of a component mounting system 70 in the third embodiment. In Fig. 21, an example of the operation mode of the third component alignment device 2c(2) and the fourth component alignment device 2d(2) and the removal mechanism 75 will be described. The third component alignment device 2c(2) and the fourth component alignment device 2d(2) are provided with a guide 82 at an end opposite to the end where the storage section 13 is disposed. When the rocking step is completed, the component alignment device 2 lowers the guide 82.

[0157] When the guide 82 is lowered, the removal mechanism 75 brings the wiper 80 into contact with the mounting surface of the pallet 7. By lowering the guide 82, it is possible to prevent the guide 82 from becoming an obstacle when the wiper 80 comes into contact with the mounting surface. When the guide 82 is lowered, the removal mechanism 75 brings the wiper 80 into contact with the upper surface of the end of the pallet 7, and moves the mounting surface toward the storage unit 13.

[0158] Note that the guide 82 may start to descend when the wiper 80 moves and reaches above the guide 82. The wiper 80 may start to descend at the timing when the guide 82 starts to descend. According to such an operation mode, at least one of the guide 82 and the wiper 80 functions as a side wall of the pallet 7. Therefore, it is possible to effectively prevent the parts P from falling out of the pallet 7.

[0159] The guide 82 may stop when it has descended until its upper end is at substantially the same height as the placement surface of the pallet 7. Alternatively, the guide 82 may descend until its upper end is below the placement surface of the pallet 7.

[0160] 21, the removal mechanism 75 brings the wiper 80 into contact with the placement surface so that the wiper 80 presses against the placement surface. The removal mechanism 75 may move on the placement surface while pressing the placement surface downward. When the removal mechanism 75 reaches the storage unit 13, the removal mechanism 75 moves the wiper 80 toward the end opposite the storage unit 13, and returns the wiper 80 to its initial position. Alternatively, differently from this, the removal mechanism 75 may stop the wiper 80 when it reaches the storage unit 13.

[0161] According to this configuration, when the wiper 80 moves over the placement surface, the components P that are not accommodated in the accommodation portion 8 and remain on the placement surface can be suitably removed.

[0162] 21, the wiper 80 may be configured to be capable of pressing the pallet 7 in the Z-axis direction. As an example, the wiper 80 may have an elastic body such as a spring in a shaft portion capable of pressing the mounting surface of the pallet 7 in the Z-axis direction. Alternatively, differently from this, the wiper 80 may be configured to be capable of pressing in the Z-axis direction by pressure such as hydraulic pressure or water pressure. The wiper 80 may be configured to be extendable and retractable in the Z direction.

[0163] Next, the operation of each device constituting the component mounting system in the third embodiment will be described. Fig. 22 is a sequence diagram showing an example of the operation of the component mounting system 70 in the third embodiment. Each device constituting the component mounting system 70 operates based on a command received from a control unit (not shown). Note that the processing procedures in the shaking process, removal process, pick-up process and mounting process executed by the component mounting system 70 in the third embodiment are similar to the processing procedures described in the first embodiment.

[0164] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are in the first position, the components P are supplied from the supply feeder 6 to the third component alignment device 2c(2) (process P50). On the other hand, the mounting head 20 approaches the fourth component alignment device 2d(2) and executes a mounting process in which the components P stored in the storage section 8 are picked up and mounted on the workpiece W (process P51).

[0165] When the components P are supplied to the pallet 7 (process P50), a shaking process is performed in the third component alignment device 2c(2) (process P52). After the shaking process is performed, a removal process is performed in the third component alignment device 2c(2) by the removal mechanism 75 (process P53), and the components P remaining on the placement surface without being accommodated in the accommodation section 8 of the pallet 7 are removed.

[0166] When the removal process (process P53) is completed in the third component alignment device 2c(2) and the mounting process (process P51) is completed in the fourth component alignment device 2d(2), the third component alignment device 2c(2) and the fourth component alignment device 2d(2) are moved from the first position to the second position by the second transport unit 78 (process P54).

[0167] When the third component alignment device 2c(2) and the fourth component alignment device 2d(2) move to the second position, the mounting head 20 approaches the third component alignment device 2c(2) and executes a mounting process of picking up a component P stored in the storage section 8 and mounting it on the workpiece W (process P55). Meanwhile, the component P is supplied from the supply feeder 6 to the fourth component alignment device 2d(2) (process P56), and once the component P has been supplied, a swinging process is executed (process P57).

[0168] Once the rocking process is performed (process P57), a removal process is performed in the fourth component alignment device 2d(2) by the removal mechanism 75 (process P58), and components P remaining on the placement surface without being accommodated in the storage section 8 of the pallet 7 are removed.

[0169] When the mounting process (process P55) is completed in the third component alignment device 2c(2) and the removal process (process P58) is completed in the fourth component alignment device 2d(2), the second transport unit 78 moves the third component alignment device 2c(2) and the fourth component alignment device 2d(2) from the second position to the first position.

[0170] When the third component aligning device 2c(2) and the fourth component aligning device 2d(2) move to the first position, the process returns to the above-mentioned process P50 and process P51, and thereafter, the processing of process P50 to process P58 is repeatedly executed.

[0171] In the third embodiment, each device constituting component mounting system 70 operates in such a manner, so that different processes are executed in parallel by third component alignment device 2c(2) and fourth component alignment device 2d(2), thereby improving work efficiency.

[0172] (Modification) In the above first to third embodiments, one embodiment of the present invention has been described, but the present invention is not limited to the configurations described in the above embodiments, and various modified examples are applicable.

[0173] In the third embodiment, the mounting apparatus 3 includes the mounting head 20, and the removal mechanism 75 includes the wiper 80. However, the present invention is not limited to this, and the mounting apparatus 3 may include the mounting head 20 and the wiper 80. In this case, the mounting apparatus 3 executes the removal process and the mounting process.

[0174] In each of the above embodiments, the pallet 7 is swung in the X-axis direction, the Y-axis direction, and the Z-axis direction by the drive mechanism 9, but this is not limiting, and the pallet 7 may be swung only in the X-axis direction, only in the X-axis and Y-axis directions, or only in the Z-axis direction. In particular, by not adopting a configuration in which the pallet 7 is swung in the Z-axis direction, it is possible to effectively prevent the parts P from coming out of the pallet 7.

[0175] In each of the above embodiments, the parts P remaining on the placement surface of the pallet 7 are removed by a wiper. However, the present invention is not limited to this, and the parts P may be removed by air pressure or water pressure.

[0176] In each of the above embodiments, the pickup process and the mounting process are performed by the mounting head 20 and the pick-up claw 28, but this is not limiting, and the mounting head 20 does not have to include the pick-up claw 28. The mounting head 20 may include a mechanism for holding the component P.

[0177] In the removal process described in each of the above embodiments, the case has been described in which the wiper moves in the determination direction when it reaches the storage unit 13 and returns to the initial position. However, the present invention is not limited to this, and the wiper may stop when it reaches the storage unit 13 and wait until the mounting process by the mounting device 3 is completed.

[0178] In each of the above embodiments, the storage section 8 is described as being recessed downward from the mounting surface of the pallet 7, but this is not limited to this, and the storage section 8 may be formed to protrude upward from the mounting surface of the pallet 7.

[0179] Unlike the above-described embodiments, the storage unit 8 may move up and down at a predetermined timing. As an example, when the removal step is performed, the storage unit 8 may rise above the placement surface of the pallet 7. [Explanation of symbols]

[0180] 1 Component Mounting System (Component Mounting System) 2. Parts Alignment Device 2a First component alignment device (component alignment device) 2b Second component alignment device (component alignment device) 2c Third part alignment device (part alignment device) 2d 4th component alignment device (component alignment device) 3 Mounting Equipment 7 Palette 8. Storage section 9 Drive mechanism (drive means) 11 Wiper (removal means) 13 Storage section (storage means) 20 Mounting Head 22 Holding fixture 24 First Transportation Section (Transportation Means) 28 Pickup claw 50 Component Mounting System (Component Mounting System) 70 Component Mounting System (Component Mounting System) 75 Removal mechanism (removal means) 80 Wiper (removal means) S2 Swinging process (swinging step) S3 Removal process (removal step) S4 Pick-up process (pick-up step) S5 Mounting process (mounting step) P parts Double work

Claims

1. a pallet on which a plurality of components can be placed, the pallet having recesses at predetermined intervals for accommodating the components; A driving means capable of swinging the pallet in a predetermined direction; a removal means for moving in a predetermined direction along the component placement surface on the pallet after the driving means has stopped, and capable of removing from the placement surface those of the components that are not accommodated in the recesses; a storage unit capable of storing the part removed from the placement surface by the removing unit; Equipped with The storage means is disposed adjacent to the placement surface at approximately the same height as the placement surface.

2. the removing means is configured to be movable while maintaining a bottom surface at a predetermined height from the flat portion of the placement surface, The component alignment apparatus of claim 1 , wherein the height is less than a size of the component.

3. The component aligning device according to claim 1 or 2; a mounting device that picks up the components from the component alignment device and mounts them on a workpiece; A component mounting system comprising: The mounting device includes: a mounting head that picks up the component accommodated in the recess and mounts the picked-up component on the workpiece; A holding jig for holding the workpiece; a moving means for moving the mounting head to a position corresponding to the workpiece held by the holding jig when the component is picked up by the mounting head; Equipped with the mounting head is configured to be able to pick up the components by a plurality of pickup claws arranged corresponding to the recesses, A component mounting system in which the holding jig holds the work in a manner corresponding to the arrangement of the pick-up claws.

4. A part alignment method for arranging a plurality of parts supplied in irregular positions on a pallet having a recess capable of accommodating the parts, comprising the steps of: a rocking step of rocking the pallet in a predetermined direction; a removing step of moving a wiper along the component placement surface on the pallet after the swinging step is performed, to remove the components that are not accommodated in the recesses from the placement surface; Run a storage means for storing the parts removed in the removing step is disposed within the pallet; The storage means is disposed contiguous with the placement surface and at approximately the same height as the placement surface.

5. a rocking step of rocking a pallet having recesses capable of accommodating a plurality of parts supplied in an irregular position in a predetermined direction; a removing step of moving a wiper along the component placement surface on the pallet after the swinging step is performed, to remove the components that are not accommodated in the recesses from the placement surface; a pick-up step of picking up the component accommodated in the recess by a mounting head having a plurality of pick-up claws arranged corresponding to the recess when the removing step is performed; a mounting step of mounting the components picked up by the mounting head onto a workpiece held by a holding jig in an arrangement corresponding to the arrangement of the mounting head; Run a storage means for storing the parts removed in the removing step is disposed within the pallet; The storage means is disposed contiguous with the placement surface and at approximately the same height as the placement surface.

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