Work machine and method for placing parts on the placement area

Abstract

To properly place a component on a placing area.SOLUTION: A work machine includes a placing area on which a component is placed and a posture changing device for moving the component relative to the placing area while keeping contact with the component to change a posture of the component for placement on the placing area. A method is for moving a component relative to the placing area while keeping a holding tool in contact with the component placed on the placing area to change the posture of the component for placement on the placing area.SELECTED DRAWING: Figure 16

Description

[Technical Field]

[0001] The present invention relates to a work machine that places parts on a placement area. [Background technology]

[0002] As described in the following patent document, in a work machine, parts are placed on a placement area such as a conveyor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-202569 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to properly place components on the placement area. [Means for solving the problem]

[0005] In order to solve the above problems, the present specification provides: a work head for gripping a part; a placement area for placing components; After the component is placed on the placement area, the work head Contacting the part Move Move the part of the placing area Let it fall over The present invention discloses a work machine equipped with a position changing device on which the work machine is placed.

[0006] In order to solve the above problem, the present specification provides a work machine having a placement area for placing a part held by a holder, After placing the component on the placement area, The holder is moved relative to the placement area while being in contact with the component placed on the placement area, Tipping over A method for placing a component on the placement area is disclosed. [Effects of the Invention]

[0007] In the present disclosure, the component is placed on the placement area by moving the holder or the position change device relative to the placement area while in contact with the component, changing the position of the component, thereby enabling the component to be placed appropriately on the placement area. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a perspective view showing a component mounter. [Figure 2] FIG. 2 is a perspective view showing a component mounting device of the component mounter. [Figure 3] FIG. 1 is a plan view showing a waste conveyor. [Figure 4] FIG. 2 is a block diagram showing a control device. [Figure 5] FIG. 1 is a plan view showing a waste conveyor. [Figure 6] FIG. 1 is a plan view showing a waste conveyor. [Figure 7] FIG. 1 is a plan view showing a waste conveyor. [Figure 8] FIG. [Figure 9] FIG. 1 is a side view showing a waste conveyor. [Figure 10] FIG. 1 is a side view showing a waste conveyor. [Figure 11] FIG. 1 is a side view showing a waste conveyor. [Figure 12] FIG. 1 is a side view showing a waste conveyor. [Figure 13] FIG. 1 is a side view showing a waste conveyor. [Figure 14] FIG. 1 is a side view showing a waste conveyor. [Figure 15] FIG. 1 is a side view showing a waste conveyor. [Figure 16] FIG. 1 is a side view showing a waste conveyor. [Figure 17] FIG. 1 is a plan view showing a waste conveyor. [Figure 18] FIG. 1 is a plan view showing a waste conveyor. [Figure 19] FIG. 1 is a plan view showing a waste conveyor. [Figure 20]FIG. 2 is a perspective view showing a module substrate. [Figure 21] FIG. 2 is a diagram showing a module board mounted on a circuit board. [Figure 22] FIG. 1 is a side view showing a waste conveyor. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings as modes for carrying out the present invention.

[0010] 1 shows a component mounter 10. The component mounter 10 is a device for performing the operation of mounting components on a circuit substrate 12. The component mounter 10 includes a device main body 20, a substrate transport and holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a bulk component supply device 30, a component supply device 32, a disposal conveyor 34, a disposal box 36, and a control device (see FIG. 4) 38. Examples of the circuit substrate 12 include a circuit board, a substrate with a three-dimensional structure, and the like, and examples of the circuit substrate include a printed wiring board, a printed circuit board, and the like.

[0011] The device main body 20 is composed of a frame 40 and a beam 42 suspended from the frame 40. The substrate transport and holding device 22 is disposed in the center of the frame 40 in the front-to-rear direction and includes a transport device 50 and a clamping device 52. The transport device 50 transports the circuit substrate 12, and the clamping device 52 holds the circuit substrate 12. As a result, the substrate transport and holding device 22 transports the circuit substrate 12 and securely holds the circuit substrate 12 at a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounter 10 is the X direction, and the front-to-rear direction is the Y direction.

[0012] The component mounting device 24 is mounted on the beam 42 and includes two work heads 56, 58 and a work head moving device 62. Each work head 56, 58 has a component holder (see FIG. 2) 60, which holds a component. The component holders 60 include a suction nozzle (see FIG. 12) 60a and a chuck (see FIG. 13) 60b. Either the suction nozzle 60a or the chuck 60b is automatically attached to each work head 56, 58 by a nozzle changer (not shown). The suction nozzle 60a holds a component by applying negative pressure and releases the component by applying positive pressure. The chuck 60b holds a component by bringing a pair of gripping jaws (see FIG. 13) 63 closer to each other and releases the component by moving the pair of gripping jaws 63 apart. Each of the work heads 56, 58 also has a rotation device (see FIG. 4) 64 that rotates the component holder 60 attached to each of the work heads 56, 58. Therefore, by operating the rotation device 64, the posture of the components held by the component holder 60 of each of the work heads 56, 58 is changed.

[0013] As shown in FIG. 2, the work head moving device 62 is made up of an X-direction moving device 65, a Y-direction moving device 66, and a Z-direction moving device 67. The X-direction moving device 65 and the Y-direction moving device 66 each have electromagnetic motors 68, 69 (see FIG. 4), and the two work heads 56, 58 are moved integrally to any position on the frame 40 by the operation of the electromagnetic motors 68, 69. The Z-direction moving device 67 has electromagnetic motors 70, 72 (see FIG. 4), and the sliders 74, 76 are moved individually in the vertical direction by the operation of the electromagnetic motors 70, 72. The work heads 56, 58 are detachably attached to the sliders 74, 76. As a result, the work heads 56, 58 are moved individually in the vertical direction by the Z-direction moving device 67.

[0014] Mark camera 26 is attached to slider 74 facing downward on a vertical line, and moves in the X, Y, and Z directions together with work head 56. This allows mark camera 26 to capture an image of any position on frame 40. Part camera 28 is disposed between substrate material conveying and holding device 22 and component supply device 30 on frame 40, as shown in FIG. 1, facing upward on a vertical line. This allows part camera 28 to capture an image of components held by component holders 60 of work heads 56, 58.

[0015] The bulk parts supplying device 30 is disposed at one end of the frame 40 in the front-to-rear direction. The bulk parts supplying device 30 is a device that aligns multiple parts that are scattered randomly and supplies the aligned parts. In other words, it is a device that aligns multiple parts in any orientation into a predetermined orientation and supplies the parts in the predetermined orientation.

[0016] The component supply device 32 is disposed at the other end of the frame 40 in the front-rear direction. The component supply device 32 has a tray-type component supply device 110 and a feeder-type component supply device 112. The tray-type component supply device 110 is a device that supplies components placed on a tray (not shown). The feeder-type component supply device 112 is a device that supplies components using a tape feeder 120.

[0017] The waste conveyor 34 is disposed adjacent to the parts camera 28 on the frame 40. The waste conveyor 34 is used to discard parts and is composed of a conveyor belt 130 extending in the Y direction, as shown in FIG. 3. The conveyor belt 130 rotates in the direction of arrow 134 by the operation of an electromagnetic motor (see FIG. 4) 132. The direction of arrow 134 corresponds to the direction in which taped components are fed when, for example, the tape feeder 120 of the feeder-type component supply device 112 supplies components. As a result, components 136 placed on the upper surface of the conveyor belt 130 are transported in the direction of arrow 134. A transmission-type detection sensor 138 is disposed at the end of the conveyor belt 130 in the transport direction, i.e., the direction of arrow 134. The detection sensor 138 is composed of a light-emitting unit 140 and a light-receiving unit 142. Light-projecting unit 140 and light-receiving unit 142 are disposed opposite each other with conveyor belt 130 sandwiched between them in the X direction, and light emitted from light-projecting unit 140 passes above conveyor belt 130 and is received by light-receiving unit 142. Therefore, if a component is present on the upper surface of conveyor belt 130 between light-projecting unit 140 and light-receiving unit 142, the component blocks the light emitted from light-projecting unit 140, and light-receiving unit 142 does not receive the light emitted by light-projecting unit 140. On the other hand, if no component is present on the upper surface of conveyor belt 130 between light-projecting unit 140 and light-receiving unit 142, light-receiving unit 142 receives the light emitted from light-projecting unit 140. Thus, detection sensor 128 detects whether a component placed on the upper surface of conveyor belt 130 has been conveyed to the end of conveyor belt 130 in the conveyance direction, based on whether light is received by light-receiving unit 142.

[0018] Further, the waste box 36 is disposed next to the waste conveyor 34 on the frame 40. The waste box 36 is also used for disposing of parts, and parts are disposed of inside the waste box 36.

[0019] 4, the control device 38 includes a controller 170, a plurality of drive circuits 172, and an image processing device 176. The plurality of drive circuits 172 are connected to the transport device 50, the clamp device 52, the rotation device 64, the electromagnetic motors 68, 69, 70, 72, 132, the tray-type component supply device 110, the feeder-type component supply device 112, and the bulk component supply device 30. The controller 170 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to the plurality of drive circuits 172. As a result, the operation of the substrate transport and holding device 22, the component mounting device 24, etc. is controlled by the controller 170. The controller 170 is also connected to an image processing device 176. The image processing device 176 processes image data obtained by the mark camera 26 and the part camera 28, and the controller 170 acquires various information from the image data. The controller 170 is also connected to the detection sensor 138. As a result, the controller 170 acquires the detection results from the detection sensor 138.

[0020] The component mounter 10, with the above-described configuration, performs a component mounting operation on the circuit board 12 held by the substrate conveying and holding device 22. Specifically, the circuit board 12 is conveyed to the work position and fixedly held at that position by the clamping device 52. Next, the mark camera 26 moves above the fixedly held circuit board 12 and captures an image of the reference mark on the circuit board 12. Then, the controller 170 calculates, based on the image data, an error in the holding position of the circuit board 12. Also, the bulk component supply device 30 or the component supply device 32 supplies a component at a predetermined supply position. Then, one of the work heads 56, 58 moves above the component supply position and holds the component with the component holder 60. Next, the work head 56, 58 holding the component moves above the part camera 28 and captures an image of the component held by the component holder 60. Then, the controller 170 calculates, based on the image data, an error in the holding position of the component. The controller 170 also determines, based on the imaging data, whether the components held by the working heads 56, 58 are normal components and whether the holding posture is normal. That is, the controller 170 determines, based on the imaging data, whether the components held by the working heads 56, 58 are not damaged and whether the posture of the components allows for mounting. If the components held by the working heads 56, 58 are normal components and the holding posture of the components allows for mounting, the working heads 56, 58 move above the circuit board 12, correct errors in the holding position of the circuit board 12, errors in the holding position of the components, etc., and mount the held components onto the circuit board 12.

[0021] On the other hand, if the component held by the working heads 56, 58 is not a normal component, or if the component is not held in a position that allows it to be mounted, the component held by the working heads 56, 58 is discarded onto the disposal conveyor 34 or the disposal box 36. At this time, if the component held by the working heads 56, 58 is a non-reusable component, an inexpensive component, or the like, the working heads 56, 58 move above the disposal box 36 and release the component held by the component holder 60. As a result, the non-reusable component, the inexpensive component, or the like is discarded into the disposal box 36. On the other hand, if the component held by the working heads 56, 58 is a reusable component, an expensive component, or the like, the working heads 56, 58 move above the disposal conveyor 34 and place the component they are holding on the upper surface of the conveyor belt 130, as shown in FIG. 3.

[0022] Specifically, working heads 56, 58 move above the upstream end of conveyor belt 130, i.e., the end opposite the conveying direction (direction of arrow 134) of conveyor belt 130. Working heads 56, 58 then lower component holder 60 to place the held component on the upper surface of conveyor belt 130, and then release the component. As a result, component 136a is placed on the upper surface of the upstream end of conveyor belt 130, as shown in FIG.

[0023] 3, the dimensions of both the X-direction and Y-direction sides of the conveyor belt 130 are smaller than the width dimension of the conveyor belt 130, i.e., the dimension in the X-direction, so the part 136a can be placed on the conveyor belt 130 without protruding from the conveyor belt 130. In other words, the part 136a can be placed on the conveyor belt 130 so that the entire part is positioned above the conveyor belt 130. In other words, the part 136a can be placed on the conveyor belt 130 so that the entire part overlaps the conveyor belt 130 when viewed from above and below. On the other hand, the part 136b shown in FIG. 5 has the dimension of one of the X-direction and Y-direction sides larger than the width dimension of the conveyor belt 130. Therefore, the part 136a can be placed on the conveyor belt 130 so that the entire part overlaps the conveyor belt 130 when viewed from above and below. When component 136b (indicated by the dotted line) is placed on conveyor belt 130 with its side longer than the width of conveyor belt 130 extending in the X direction, part of component 136b will extend beyond conveyor belt 130. Therefore, when component 136b is to be placed on conveyor belt 130, work heads 56 and 58 rotate component holder 60 holding component 136b by operating rotation device 64, thereby changing the orientation of component 136b held by component holder 60 to one with its side longer than the width of conveyor belt 130 extending in the Y direction (as indicated by the solid line). Then, component holder 60 is lowered, so that component 136b held by component holder 60 is placed on the upper surface of conveyor belt 130. This allows component 136b to be placed on the upper surface of conveyor belt 130 without extending beyond conveyor belt 130.

[0024] Furthermore, for example, if a component 136a is placed on the upper surface of the conveyor belt 130 and then another component is placed on the upper surface of the conveyor belt 130, the electromagnetic motor 132 rotates the conveyor belt 130 a distance corresponding to the dimension L1 of the component 136c to be discarded (see FIG. 6 ) to ensure a placement space for the component. This causes the component 136a, which was previously placed on the upper surface of the conveyor belt 130, to be transported downstream in the direction of the arrow 134 a distance corresponding to the dimension L1 of the component 136c to be discarded. The distance corresponding to the dimension L1 of the component 136c to be discarded is the sum of the dimension L1 and a preset distance. The dimensions of the component to be installed are set in the controller 170, and the dimension of the component extending in the Y direction when the component 136c to be discarded is placed on the conveyor belt 130 is used as L1. Then, when the component 136a previously placed on the upper surface of the conveyor belt 130 is transported downstream, the work heads 56, 58 holding the component 136c to be discarded move above the upstream end of the conveyor belt 130, and the component holder 60 is lowered to place the component 136c it is holding on the upper surface of the conveyor belt 130, after which the component holder 60 releases the component it is holding.

[0025] In this manner, when parts are sequentially discarded onto the waste conveyor 34, the conveyor belt 130 rotates a distance corresponding to the dimensions of the parts to be discarded in order to ensure a placement space for the parts to be discarded, and then the parts are placed on the upstream end of the conveyor belt 130. As the parts are sequentially placed on the conveyor belt 130, the first part 136a placed on the conveyor belt 130 reaches the downstream end of the conveyor belt 130, as shown in FIG. 7. At this time, the part 136a that has reached the downstream end of the conveyor belt 130 blocks the light emitted from the light-projecting unit 140 of the detection sensor 138, and the controller 170 detects that the part placed on the conveyor belt 130 has reached the downstream end of the conveyor belt 130. The controller 170 then turns on a warning lamp (not shown) corresponding to the waste conveyor 34. This allows a worker to check the waste conveyor 34 and collect the parts placed on the conveyor belt 130. In this way, in the component mounter 10, reusable components, expensive components, etc. are placed on the conveyor belt 130 of the disposal conveyor 34 and collected by workers, allowing the discarded components to be reused.

[0026] However, if a component with a height greater than the area of ​​its mounting surface on the circuit board 12 is placed on the conveyor belt 130 in the same orientation as when it is mounted on the circuit board 12, there is a risk that the component may tip over on the conveyor belt, be damaged, or fall off the conveyor belt. Specifically, the component 200 shown in FIG. 8 is a so-called lead component, and is composed of a generally rectangular parallelepiped component body 202 and multiple leads 204. The component 200 is mounted on the circuit board 12 with the leads 204 facing downward, and the surface from which the leads 204 extend is the mounting surface 210 for the circuit board 12. The four surfaces perpendicular to the mounting surface 210 are the side surfaces when mounted on the circuit board 12, and the sum of the length dimensions of these four side surfaces in the direction perpendicular to the mounting surface 210 and the length dimension of the leads 204 is the height L2 of the component 200. Of the four side surfaces of the component body 202, a pair of opposing side surfaces has a relatively small area. The other pair of opposing sides are relatively large-area sides (hereinafter referred to as "long sides") 214. The area of ​​the short side 212 is approximately the same as the area of ​​the mounting surface 210, and the area of ​​the long side 214 is approximately four times the area of ​​the mounting surface 210.

[0027] Component 200, which has a small mounting surface 210 and a large height, is placed on the upper surface of conveyor belt 130 with mounting surface 210 facing downward, as shown in FIG. 9 , i.e., in the same position as when it is mounted on circuit board 12. Note that the direction of arrow 220 indicates the conveyance direction of conveyor belt 130, and component 200 is placed on conveyor belt 130 upstream of component 136c (opposite the conveyance direction) on which components 136a and 136c are already placed. Component 200 is placed on conveyor belt 130 with its long side 214 facing the Y direction. Component 200 placed upstream of component 136c in this position may tip over in the conveyance direction, as shown in FIG. 10 . In such a case, component 200 may come into contact with component 136c, potentially damaging at least one of component 200 and component 136c, making the damaged component unreusable. Furthermore, there is a risk that component 200 that comes into contact with component 136c may be pushed off conveyor belt 130 by the force of the contact and fall off conveyor belt 130.

[0028] Component 200 may also tip over in the direction opposite to the conveying direction, as shown in FIG. 11 . In such a case, the momentum of component 200 tipping over may cause component 200 to protrude from conveyor belt 130 and fall off of conveyor belt 130. Furthermore, if component 200 tips over in the direction opposite to the conveying direction, when a different component is placed on conveyor belt 130 after component 200, component 200 and the component placed after component 200 may be damaged. In other words, when a component is placed on conveyor belt 130 after component 200, controller 170 does not recognize that component 200 has tip over. In other words, controller 170 recognizes that component 200 is placed in an upright position, and component holder 60 of the work head places the next component upstream of component 200 in the upright position. 12, when the working heads 56, 58 are lowered to place the component 136d held by the component holder 60 of the working heads 56, 58 on the upper surface of the conveyor belt 130, the component 136d comes into contact with the fallen component 200. At this time, the controller 170 lowers the working heads 56, 58 with the intention of placing the component 136d held by the component holder 60 on the upper surface of the conveyor belt 130, and the component 136d comes into contact with the fallen component 200 at a position higher than the upper surface of the conveyor belt 130. Therefore, the component 136d is pressed against the component 200 by the component holder 60 with a strong force, which may damage at least one of the components 136a and 200, making the damaged component unreusable. Furthermore, the impact of component 136d coming into contact with component 200 is transmitted to the component holder, which may also damage component holder 60. In this case, component 136d is held by suction nozzle 60a as component holder 60.

[0029] If the component 200 is placed on the upper surface of the conveyor belt 130 in an upright position, the component intended for reuse may be damaged, making it impossible to reuse. The component holder 60 may also be damaged. Furthermore, if a tall component 200 is placed on the upper surface of the conveyor belt 130 in an upright position, the work heads 56, 58 must perform an avoidance operation to prevent interference between the component 200 and the component holder 60 as the work heads 56, 58 move above the conveyor belt 130, complicating control. In view of this, a tall component 200 with a small mounting surface 210 is placed on the upper surface of the conveyor belt 130 by changing the position of the component 200. Specifically, the component 200 is held by the chuck 60b as the component holder 60, as shown in FIG. 13 . When the component 200 is held by the chuck 60b, a pair of gripping jaws 14, the pair of gripping jaws 63 of chuck 60b separate to release part 200, and then work heads 56, 58 slightly rise. At this time, work heads 56, 58 rise and stop so that the tips of the pair of gripping jaws 63 in the separated state do not move above the top surface of part 200.

[0030] In this state, as shown in FIG. 15 , the work heads 56, 58 move upstream, that is, in the direction opposite to the conveying direction of the conveyor belt. At this time, the downstream gripping claw of the pair of separated gripping claws comes into contact with the downstream long side surface 214 of the pair of long sides 214 of the part 200. As a result, as shown in FIG. 16 , the position of the part, which was placed in an upright position, changes, and the part falls toward the upstream side. Note that the work heads 56, 58 continue to move toward the upstream side even after the gripping claws 63 come into contact with the long side surface 214 of the part 200. As a result, the gripping claws 63 push the part 200 toward the upstream side while maintaining contact with the long side surface 214 of the part 200 that is falling toward the upstream side for a short time, and then the part 200 falls under its own weight. That is, the gripping claws 63 continue to push the part 200 upstream while supporting the long side 214 of the part 200 until the part 200 falls under its own weight. In this way, the gripping claws 63 continue to push the part 200 upstream while supporting the long side 214, thereby appropriately tipping the part 200 in the direction of movement of the work heads 56, 58, i.e., in the direction opposite to the conveying direction of the conveyor belt 130. This changes the orientation of the part 200, and the part 200 can be toppled with less impact when it falls onto the top surface of the conveyor belt 130, preventing the part 200 from moving due to the impact. This prevents the part 200 from protruding from the conveyor belt 130 and falling off the conveyor belt 130 when it falls.

[0031] Note that because part 200 is laid down in a position extending in the opposite direction to the conveyance direction, the distance it occupies in the Y direction on the top surface of conveyor belt 130 is the height dimension L2 of part 200. Therefore, the distance that conveyor belt 130 travels to ensure a placement space for part 200 before part 200 is placed on the top surface of conveyor belt 130 is the dimension L2 plus a preset distance. This makes it possible to ensure an appropriate amount of space for placing part 200 in a laid-down state.

[0032] Furthermore, component 200 is released from chuck 60b upstream of component 136c already placed on the upper surface of conveyor belt 130, and is toppled by gripping jaws 63 of chuck 60b in the direction opposite to the conveying direction of conveyor belt 130. In other words, component 200 is released from chuck 60b at a position different from the position of component 136c already placed on the upper surface of conveyor belt 130, and is toppled by gripping jaws 63 of chuck 60b with less impact when toppling in the direction away from component 136c. This makes it possible to topple component 200 without interfering with component 136c, preventing damage to component 136c already placed on the upper surface of conveyor belt 130 and component 200 to be placed in a toppled state on the upper surface of conveyor belt 130.

[0033] Furthermore, the part 200 is tilted by the movement of the work heads 56, 58, that is, the part is intentionally tilted, so the controller 170 recognizes that the part 200 is placed in a tilted state. Therefore, when a new part is placed on the top surface of the conveyor belt 130 after the part 200, the controller 170 controls the conveyor belt 130, the work heads 56, 58, etc. so that the new part is placed upstream of the part 200 that is placed in a tilted state. This makes it possible to reliably prevent contact between the part 200 and a new part when the new part is placed on the upper surface of the conveyor belt 130 after the part 200.

[0034] In this way, in the component mounter 10, the components 200 are placed on the upper surface of the conveyor belt 130 in a tilted state, that is, in a position changed from the position in which they are held by the chucks 60b, thereby preventing the components discarded on the waste conveyor 34 from being damaged, protruding from the conveyor belt 130, or falling off. Furthermore, by placing the tall components 200 on the upper surface of the conveyor belt 130 in a tilted state, there is almost no interference between the components 200 and the component holders 60 when the working heads 56, 58 move above the conveyor belt 130, and therefore there is less need for the working heads 56, 58 to perform avoidance operations to avoid interference with the components 200. In the above description, component 200, whose long side surface 214 has an area approximately four times the area of ​​mounting surface 210, is placed in a laid-down state on the upper surface of conveyor belt 130, but components whose long side surface has an area 1.5 times or more the area of ​​the mounting surface are preferably placed in a laid-down state on the upper surface of conveyor belt 130, similar to component 200. Meanwhile, component body 202 of component 200 is generally rectangular parallelepiped-shaped, but components such as capacitors that have cylindrical component bodies can be placed upright in a relatively stable state, and therefore may be placed on conveyor belt 130 in an upright position rather than laid-down.

[0035] Furthermore, in the above description, the component 200 is held by the chuck 60b with the long side 214 facing the Y direction as shown in FIG. 13 , but there are also cases where the component 200 is held by the chuck 60b with the short side 212 facing the Y direction. In such a case, when the component 200 is placed on the conveyor belt 130, the component 200 is placed on the conveyor belt 130 with the short side 212 facing the Y direction, as shown by the dotted line in FIG. 17 , but it is difficult to tilt the component 200 in this position in the Y direction. Furthermore, even if the component 200 with the short side 212 facing the Y direction can be tilted in the Y direction, the short side 212 will contact the conveyor belt 130, but the small area of ​​the short side 212 makes it unstable. Therefore, when the component 200 is held by the chuck 60b with the short side surface 212 facing the Y direction, the chuck 60b is rotated by operating the rotation device 64, and the orientation of the component 200 held by the chuck 60b is changed to an orientation with the long side surface 214 facing the Y direction (the orientation shown by the solid line). This allows the component 200 to be easily tilted by moving the work heads 56, 58.

[0036] Furthermore, since the left-right dimension of the long side surface 214 when held by the chuck 60b is shorter than the width dimension of the conveyor belt 130, even if the component 200 is placed on the conveyor belt 130 with the long side surface 214 facing the Y direction, as shown in Fig. 17, the component 200 does not protrude from the conveyor belt 130. On the other hand, as shown in Fig. 18, there is also a component 232 whose left-right dimension of the long side surface 230 when held by the chuck 60b is longer than the width dimension of the conveyor belt 130. If such a component 232 is placed on the conveyor belt 130 with the long side surface 230 facing the Y direction, part of the component 232 will protrude from the conveyor belt 130 (the position shown by the dotted line).

[0037] Therefore, when the component 232 held by the chuck 60b is to be placed on the conveyor belt 130, the chuck 60b is rotated by actuation of the rotation device 64, and the orientation of the component 232 held by the chuck 60b is changed to an orientation in which the long side 230 faces the X direction (the orientation shown by the solid line). This allows the component 232 to be placed on the conveyor belt 130 without protruding from the conveyor belt 130. However, the component 232 held by the chuck 60b with the long side 230 facing the X direction is tilted in the X direction as shown in FIG. 19 after being released from the chuck 60b on the upper surface of the conveyor belt 130. In other words, when the work heads 56, 58 are lowered, the component 232 held by the chuck 60b is rotated to an orientation in which the long side 230 faces the X direction. 232 is placed on the upper surface of the conveyor belt 130 in an upright position with the long side 230 facing the X direction. Next, the pair of gripping jaws 63 of the chuck 60b separate to release the component 232, and then the work heads 56, 58 rise slightly. Then, as the work heads 56, 58 move in the X direction, the separated gripping jaws 63 of the chuck 60b come into contact with the long side 230 of the component 232, changing the position of the component 232 that was placed in an upright position, and the component 232 falls in the X direction. This allows the component 232 to be placed on the conveyor belt 130 in a fallen position without protruding from the conveyor belt 130.

[0038] Although the above description has been given of the case where components 200 and 232 are held by chuck 60b, components 200 and 232 can also be held by suction nozzle 60a. When components 200 and 232 are held by suction nozzle 60a, the surface opposite to mounting surface 210 is picked up by suction nozzle 60a. When components 200 and 232 held by suction nozzle 60a are to be toppled onto the upper surface of conveyor belt 130, the work head descends until the bottom ends of components 200 and 232 held by suction nozzle 60a contact the upper surface of conveyor belt 130 or just before contacting the upper surface of conveyor belt 130. Next, the work head moves in the direction in which the components are to be toppled. At this time, the suction nozzle 60a releases the components it is holding in synchronization with the start of the work head movement. This changes the orientation of the components held by suction nozzle 60a, allowing the components to be toppled in the direction in which the work head moves. In this way, the component held by the suction nozzle 60a can also be placed on the upper surface of the conveyor belt 130 in a fallen state, similar to the component held by the chuck 60b.

[0039] Furthermore, not only the components 200 and 232 but also, for example, a module substrate 250 shown in FIG. 20 can be placed in a fallen state on the upper surface of the conveyor belt 130. The module substrate 250 is composed of a generally rectangular substrate 252, a plurality of leads 254 extending from one side of the substrate, and a plurality of components 256 mounted on one surface of the substrate 252. Note that electrodes (not shown) of the plurality of components 256 are exposed on the surface of the substrate 252 opposite to the surface on which the plurality of components 256 are mounted. For this reason, the surface of the substrate 252 on which the plurality of components 256 are mounted will be referred to as a component mounting surface (see FIG. 21) 257, and the surface opposite to the component mounting surface 257 will be referred to as an electrode surface (see FIG. 21) 258.

[0040] 21 , the module substrate 250 having such a structure is held by a pair of gripping jaws 63 of the chuck 60b at the component mounting surface 257 and the electrode surface 258 with the leads 254 facing downward. A connector 260 is provided on the circuit board 12, and as the working heads 56, 58 are lowered toward the connector 260, the leads 254 of the module substrate 250 held by the chuck 60b are inserted into the connector 260. In this way, the module substrate 250 is mounted on the circuit board 12.

[0041] If this module substrate 250 is determined to be an abnormal component, for example, it is placed on the upper surface of the conveyor belt 130 of the disposal conveyor 34, similar to the components 200 and 232. More specifically, the module substrate 250 held by the chuck 60b moves above the conveyor belt 130. Then, the work heads 56 and 58 descend until the lower end of the module substrate 250 held by the chuck 60b contacts the upper surface of the conveyor belt 130. At this time, the module substrate 250 is held by the chuck 60b in an orientation in which the component mounting surface 257 and the electrode surface 258 face in the Y direction, as shown by the dotted line in FIG. 22 . Furthermore, the module substrate 250 is held by the chuck 60b in an orientation in which the electrode surface 258 faces in the conveying direction of the conveyor belt 130 (the direction of the arrow 220), and the component mounting surface 257 faces in the opposite direction to the conveying direction. Then, after the module substrate 250 held by the chuck 60b is released from the chuck 60b on the upper surface of the conveyor belt 130, it is tilted in the direction opposite to the conveying direction of the conveyor belt 130, as shown by the solid line in Figure 22.

[0042] That is, as the working heads 56 and 58 descend, the lower end of the module substrate 250 held by the chuck 60b comes into contact with the upper surface of the conveyor belt 130. Next, the pair of gripping jaws 63 of the chuck 60b separate to release the module substrate 250, and then the working heads 56 and 58 rise slightly. Then, as the working heads 56 and 58 move in the direction opposite to the transport direction of the conveyor belt 130, the gripping jaws 63 of the chuck 60b come into contact with the electrode surface 258 of the module substrate 250. This changes the orientation of the module substrate 250 held by the chuck 60b, and the module substrate 250 falls in the direction opposite to the transport direction of the conveyor belt 130. As a result, the module substrate 250 is placed on the upper surface of the conveyor belt 130 with the component mounting surface 257 facing downward. If module substrate 250 is placed on conveyor belt 130 with electrode surface 258 facing downward, dust and other particles will adhere to electrode surface 258, making it difficult to reuse module substrate 250. Therefore, module substrate 250 is placed on conveyor belt 130 with component mounting surface 257 facing downward.

[0043] The component mounter 10 is an example of a work machine. The work heads 56 and 58 are an example of a posture changing device. The component holder 60, the suction nozzle 60a, and the chuck 60b are an example of a holder. The upper surface of the conveyor belt 130 is an example of a placement area. The components 200 and 232 are an example of a component. The module board 250 is an example of a component.

[0044] Furthermore, the present invention is not limited to the above-described embodiment, and can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, when a component held by the component holder 60 is placed on the conveyor belt 130 of the waste conveyor 34, the component holder 60 changes the orientation of the component, and the component is placed on the conveyor belt 130. On the other hand, the orientation of a component that has been placed in a pre-upright orientation on the conveyor belt 130 of the waste conveyor 34 may be changed by the component holder 60, and the component may be placed on the conveyor belt 130.

[0045] Furthermore, in the above embodiment, the component holder 60 comes into contact with the component and changes the component's posture as the working heads 56, 58 move. However, a member other than the component holder 60 may come into contact with the component and change the component's posture. For example, a portion or member of the working heads 56, 58 other than the component holder 60 may come into contact with the component and change the component's posture. Furthermore, a sliding device or the like may be provided on the working heads 56, 58, and a slider or moving body of the sliding device may slide to come into contact with the component and change the component's posture. Alternatively, a corner of the slider, a rod attached to the slide, or the like may come into contact with the component and change the component's posture. Furthermore, a robot arm or the like may come into contact with, hold, or support the component to change the component's posture.

[0046] Furthermore, in the above embodiment, the orientation of the components is changed on the upper surface of the conveyor belt 130 of the waste conveyor 34, but the orientation of the components may be changed in a placement area other than the upper surface of the conveyor belt 130. For example, the orientation of the components may be changed on the upper surface of the circuit board 12 or on the upper surface of a stage or the like that is fixedly disposed for supplying components.

[0047] Furthermore, in the above embodiment, the component's posture is changed and the component is placed on the placement area in a fallen state, but the component's posture may be changed and the component placed on the placement area in a reversed direction, or the component's posture may be changed and the component placed on the placement area in a flipped upside-down state.

[0048] In the above embodiment, the position of the component is changed by moving the work heads 56, 58 in the opposite direction to the conveying direction of the conveyor belt 130, but the position of the component may be changed by moving the work heads 56, 58 in the opposite direction to the conveying direction of the conveyor belt 130 and rotating the conveyor belt 130 in the conveying direction. The position of the component may be changed by moving the conveyor belt 130 together with the conveyor belt 8.

[0049] Furthermore, in the above embodiment, the orientation of the component is changed by supporting the component in the movement direction of the working heads 56, 58 while the gripping jaws 63 of the chuck 60b are in contact with the component, but the orientation of the component may also be changed by supporting the component in the movement direction of the working heads 56, 58 while being supported by a support member or the like. Furthermore, the orientation of the component may also be changed by supporting the component in the movement direction of the working heads 56, 58 while being held by a holding member or the like.

[0050] Furthermore, in the above embodiment, the part is supported by the gripping jaws 63 of the chuck 60b until the part's posture changes due to its own weight, but the part may also be supported by the gripping jaws 63 of the chuck 60b until the change in posture is complete.

[0051] Furthermore, in the above embodiment, the components 200, 232, and module substrate 250 are placed on the upper surface of the conveyor belt 130 with their postures changed, but this is not limited to the components 200, 232, and module substrate 250, and various components may be placed on the upper surface of the conveyor belt 130 with their postures changed using the above-mentioned method. [Explanation of symbols]

[0052] 10: Component mounter (working machine) 56: Work head (position change device) 58: Work head (position change device) 60: Component holder (holder) 60a: Suction nozzle (holder) 60b: Chuck (holder) 130: Conveyor belt (mounting area) 200: Component 232: Component 250: Module board (component)

Claims

1. A work head that grips a part; a placement area for placing the component; an attitude changing device that, after placing the component on the placement area, moves the work head while contacting the component, thereby turning the component over and placing it on the placement area; A work machine equipped with:

2. The attitude changing device is 2. The work machine according to claim 1, wherein the part is placed on the placement area in an upside-down manner so as not to interfere with parts placed on the placement area before the part.

3. A work machine having a placement area for placing a part held by a holder, After placing the component in the placement area, the holder is moved relative to the placement area while in contact with the component placed in the placement area, causing the component to tip over and place the component in the placement area.

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