Parts mounting device and pallet transport device

Abstract

To increase capacity of a pallet stock while saving manpower for pallet replenishment.SOLUTION: A component mounting device picks up a component to be stored in a tray placed on a pallet at a component pickup position by a head unit and mounts it on a substrate. The component mounting device includes: a pallet holding unit that holds the pallet; a first pallet moving unit that moves the pallet between two positions of a take-out position where the pallet can be taken out from a front surface of the pallet holding unit and a component take-out position where the component can be taken out by a head unit; a stocker in which a plurality of magazines that store the pallet are held at intervals in a vertical direction; and a second pallet moving unit that moves the pallet between the pallet holding unit and the stocker.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a component mounting device and a pallet transfer device.

Background Art

[0002] There is known a tray component supply device that reduces the downtime due to component shortage in an electronic component mounter and improves the operation rate (see, for example, Patent Document 1). This tray component supply device includes a tray fixed to a plate-shaped tray jig, a tray component magazine composed of multiple shelves that accommodates trays in each shelf via the tray jig and supplies the electronic components in this tray to the electronic component mounter, means for vertically moving this tray component magazine to position the tray of the required shelf at the drawing position for component supply, a replenishment magazine that has the same configuration as the tray component magazine and accommodates a large number of trays and is installed close to the tray component magazine, and a robot that replaces the tray with component shortage in the tray component magazine with a new tray in the replenishment magazine. According to this tray component supply device, the robot can sensitively replace the tray with component shortage with a new tray in the replenishment magazine, thereby reducing the downtime due to component shortage in the electronic component mounter.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in recent years, in the Surface Mounting Technology (SMT) process, as the productivity of the equipment has improved, the frequency of replenishing electronic components during production has increased, and there is a growing need for labor-saving and automation in component replenishment. This is partly due to the increasing size of components such as automotive connectors and the SMT process for large components in subsequent processes, which has resulted in larger tray components, reducing the number of components that can be supplied on a single tray, and consequently increasing the frequency of component replenishment of trays. In response to this, in order to reduce the labor required for component replenishment, it is necessary to increase the number of components that can be mounted, but from the perspective of area productivity, it is not possible to simply expand the space of the component mounting equipment. Furthermore, if the passages between equipment lines are significantly obstructed in order to increase stock capacity, it will negatively affect workability and transportability.

[0005] This disclosure was devised in view of the conventional circumstances described above, and aims to provide a parts loading device and a pallet transport device that enable labor savings in pallet replenishment, suppress pallet spillage into inter-line aisles, and increase pallet stock capacity. [Means for solving the problem]

[0006] This disclosure relates to a component mounting device for removing components stored in trays placed on a pallet at a component removal position using a head unit and mounting them onto a circuit board, comprising: a pallet holding unit for holding the pallet; a removal position from which the pallet can be removed from the front of the pallet holding unit; and a first pallet moving unit for moving the pallet between two positions, the removal position and the component removal position from which the components can be removed by the head unit; and a stocker in which a plurality of magazines for storing the pallets are held at vertical intervals. The holding portion is positioned on the rear side, The system includes a second pallet moving unit that moves the pallet between the pallet holding unit and the stocker. The second pallet moving unit has a pallet guide unit that supports a pair of opposing sides of the pallet. To provide a component mounting device.

[0007] Furthermore, this disclosure provides a pallet transport device that moves a pallet between a stocker, which holds a plurality of magazines that removably store pallets for storing parts, spaced apart in the vertical direction, and a holding part that holds the pallet in order to supply the pallet to a position where the parts can be removed by a parts mounting part that mounts the parts onto a substrate, the device comprising a pallet moving means for inserting and removing the pallet into the holding part in a direction different from the direction in which the pallet is inserted into or removed from the stocker, the pallet moving means comprising a lifting part for moving up and down, a pallet guide part for guiding the pallet while supporting it from below, and a swivel part that swivels in the direction in which the pallet is inserted into or removed from the stocker and in the direction in which the pallet is inserted into or removed from the holding part. [Effects of the Invention]

[0008] According to this disclosure, it is possible to reduce the manpower required for pallet replenishment, prevent pallets from flying out into the aisles between lines, and increase the stock capacity of pallets. [Brief explanation of the drawing]

[0009] [Figure 1] A perspective view showing the schematic configuration of the component mounting device according to Embodiment 1. [Figure 2] Side view of the component mounting device shown in Figure 1, viewed from the direction of arrow X. [Figure 3] Rear view of the component mounting device shown in Figure 1, viewed in the Y direction. [Figure 4] Perspective view of the pallet shown in Figure 1. [Figure 5] Plan view of the main parts of the component mounting device shown in Figure 1. [Figure 6] (A) Enlarged view of the main part of the second pallet moving section as seen in the Y direction, (B) Enlarged view of the main part with the swivel section of (A) rotated 90°. [Figure 7] (A) Enlarged view of the main part of the second pallet moving section that guides the pallet, viewed in the Y direction; (B) Enlarged view of the main part with the swivel section of (A) rotated 90°. [Figure 8]Block diagram showing a configuration example of the control system of the component mounting apparatus shown in FIG. 1 [Figure 9] Flowchart showing an example of the pallet transfer procedure [Figure 10] Operation explanatory diagram of the second pallet transfer unit immediately before pulling out the pallet from the stocker [Figure 11] Operation explanatory diagram of the second pallet transfer unit after finishing pulling out the pallet from the stocker [Figure 12] Operation explanatory diagram of the second pallet transfer unit when the turning unit rotates clockwise [Figure 13] Operation explanatory diagram of the second pallet transfer unit with the pallet inserted into the tray feeder [Figure 14] Operation explanatory diagram showing the situation where the pallet is moved from the stocker to the pallet holding part [Figure 15] Perspective view of the pallet used in Embodiment 2 [Figure 16] Principal part plan view of the component mounting apparatus according to Embodiment 2 [Figure 17] (A) Enlarged view of the principal part seen in the Y direction of the second pallet transfer unit, (B) Enlarged view of the principal part where the turning unit in (A) is rotated 90° clockwise [Figure 18] Operation explanatory diagram of the second pallet transfer unit immediately before pulling out the pallet from the stocker [Figure 19] Operation explanatory diagram of the second pallet transfer unit after finishing pulling out the pallet from the stocker [Figure 20] Operation explanatory diagram of the second pallet transfer unit when the turning unit rotates clockwise [Figure 21] Operation explanatory diagram of the second pallet transfer unit when the first pusher starts pushing [Figure 22] Operation explanatory diagram of the second pallet transfer unit when the second pusher inserts the pallet into the pallet holding part [Figure 23] s Operation explanatory diagram showing the pushing procedure of the pallet by the first pusher and the second pusher [Figure 24] Operation explanatory diagram showing the situation where the pallet is moved from the stocker to the pallet holding part

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments specifically disclosing the component mounting device and pallet transport device according to this disclosure will be described in detail, with reference to the drawings as appropriate. However, unnecessarily detailed explanations may be omitted. For example, detailed explanations of already well-known matters and redundant explanations of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The accompanying drawings and the following explanation are provided to enable those skilled in the art to fully understand this disclosure and are not intended to limit the subject matter described in the claims.

[0011] (Embodiment 1) Figure 1 is a perspective view showing the schematic configuration of a component mounting device 11 according to Embodiment 1. In the figure, where arrows indicating direction are shown, the X-axis represents the left-right direction of the component mounting device 11, the Y-axis represents the front-back direction of the component mounting device 11, and the Z-axis represents the up-down direction of the component mounting device 11. The X-axis and Y-axis are orthogonal and contained in the horizontal plane. The Z-axis is contained in the vertical plane perpendicular to the horizontal plane.

[0012] The component mounting device 11 according to Embodiment 1 mainly comprises a holding unit (e.g., a tray feeder 13), a first pallet moving unit 15, a stocker 17, and a second pallet moving unit 19. The second pallet moving unit 19 constitutes a pallet transport device. The stocker 17 can be provided integrally with the component mounting device 11 as a component of the component mounting device 11. Alternatively, the stocker 17 can be a separate unit connected to the component mounting device 11. When a separate stocker 17 and the component mounting device 11 are connected, the component mounting device 11 and the stocker 17 can be collectively referred to as a component mounting system.

[0013] The component loading device 11 has a stocker 17 and a second pallet moving unit 19 arranged along a passage 21 parallel to the X-axis. The component loading device 11 also has a second pallet moving unit 19 and a tray feeder 13 arranged along the Y-axis. The component loading device 11 uses a head unit 31 (see Figure 2) to pick up components 29 (see Figure 4) stored in a tray 27 placed on a pallet 25 at a component pick-up position 23 (see Figure 2) and mount (mount) them onto a circuit board 33.

[0014] Figure 2 is a side view of the component mounting device 11 shown in Figure 1, viewed from the direction of the arrow X. A substrate transport mechanism 39 is provided on the upper surface of the base 37 of the main body 35 of the component mounting device 11 in the X direction (substrate transport direction). The substrate transport mechanism 39 transports the substrate 33 to be mounted and positions and holds it at the working position of the main body 35. A tray feeder 13 is provided in the Y direction of the second pallet moving unit 19 to supply components 29 to be mounted on the substrate 33. The tray feeder 13, as an example of a pallet holding unit, supplies components 29 to the head unit 31 by moving the pallet 25 on which the tray 27 in which the components 29 are stored in a grid arrangement is placed to the component retrieval position.

[0015] A linear motor-driven Y-axis movable table 41 is positioned in the Y direction at one end of the base 37 in the X direction. The Y-axis movable table 41 is connected to the X-axis movable table 43 so as to be movable in the Y direction. A head unit 31 is mounted on the X-axis movable table 43 so as to be movable in the X direction by a linear drive mechanism. The head unit 31 is a multi-unit head equipped with multiple unit transfer heads, and a suction nozzle 45 is interchangeably attached to the lower end of each unit transfer head. The X-axis movable table 43, the Y-axis movable table 41, and the head unit 31 constitute a component mounting mechanism 47.

[0016] The component mounting device 11 drives the Y-axis moving table 41 and the X-axis moving table 43, causing the head unit 31 to move horizontally between the tray feeder 13 and the substrate 33 held by the substrate transport mechanism 39. The components 29 stored in the tray 27 are then picked up and held by the suction nozzle 45 and mounted onto the substrate 33.

[0017] The tray feeder 13 is provided with a magazine rack 51 that can store multiple magazines 49 in multiple vertical rows. Each magazine 49 stored in the magazine rack 51 can accommodate multiple pallets 25 that hold the trays 27 in multiple vertical rows via pallet support rails 53 (see Figure 14). The pallets 25 can be inserted into and removed from the magazines 49 stored in the magazine rack 51 from both the front and rear in the Y direction. In other words, the magazines 49 in the magazine rack 51 can insert and remove the pallets 25 from both the first pallet movement section 15 and the second pallet movement section 19.

[0018] In the tray feeder 13, a first pallet moving section 15 is provided on the front side (Y-direction side) of the magazine rack 51. The first pallet moving section 15 is provided with a feeder lifting table 55 that pulls out and holds the pallet 25 from the magazine 49 of the magazine rack 51, and a feeder lifting section 57 that raises and lowers the feeder lifting table 55. The feeder lifting section 57 moves the pallet 25 between a removal position 61 from which the pallet 25 can be removed in a first direction (i.e., the Y-direction) from the front 59 of the tray feeder 13, and a parts removal position 23 from which parts 29 can be removed by the head unit 31.

[0019] The feeder lifting section 57 includes a feeder feed screw 63, a feeder lifting motor 65, and a feeder nut section 67. The feeder feed screw 63 is rotatably mounted on the base 37. The feeder lifting motor 65 is fixed to the base 37 with its drive shaft facing the same direction as the feeder feed screw 63. The feeder lifting motor 65 rotates the feeder feed screw 63 by stretching a feeder belt 69 between a pulley fixed to the drive shaft and a pulley fixed to the lower end of the feeder feed screw 63.

[0020] The feeder nut portion 67 is screwed onto the feeder feed screw 63. The feeder lifting table 55 is fixed to the feeder nut portion 67. A pair of sliding portions 71 (see Figure 5) are also fixed to the feeder lifting table 55. The sliding portions 71 are supported so as to be able to slide freely in the vertical direction by guide rails 73 fixed to the base 37. The feeder lifting table 55's rotation in the rotational direction of the feeder feed screw 63 is restricted by the sliding portions 71 and the guide rails 73.

[0021] As a result, the feeder lifting table 55 moves up and down on the front side of the tray feeder 13 when the feeder lifting motor 65 is driven, for example, by the device control unit 147 (see Figure 8). At this time, the tray feeder 13 can position the feeder lifting table 55 at the height of the pallet 25 corresponding to the storage address by specifying the storage address attached to each pallet storage section.

[0022] Figure 3 is a rear view of the component loading device 11 shown in Figure 1, viewed in the Y direction. The stocker 17 holds the pallet 25 so that it can be removed in a second direction (X direction) different from the first direction. In the component loading device 11, the first direction (Y direction) and the second direction (X direction) are orthogonal directions in a plan view.

[0023] The stocker 17 has a magazine stock section 75 and a second pallet moving section 19. The magazine stock section 75 has a plurality of magazine holding sections 77 arranged in a shelf-like manner at predetermined intervals in the vertical direction. A magazine 49 is placed on each magazine holding section 77. The magazine holding sections 77 allow the magazines 49 to be inserted into and removed from the magazine stock section 75 in the X direction. Each magazine 49 stores a plurality of pallets 25 on which trays 27 are placed, arranged in multiple layers vertically. As a result, the magazine stock section 75 holds the plurality of pallets 25 in an insertable and removable manner. The second pallet moving section 19 is provided in the X direction of the magazine stock section 75.

[0024] The second pallet moving unit 19, acting as a pallet transport device, moves the pallet 25 between the tray feeder 13 and the stocker 17. In other words, the second pallet moving unit 19 moves the pallet 25 between the stocker 17, which holds the pallet 25 for storing parts, and the holding unit (e.g., tray feeder 13), which holds the pallet 25 to supply it to a position where parts can be removed by the parts mounting unit (e.g., head unit 31) that mounts parts onto a substrate. The second pallet moving unit 19 includes a lifting unit (e.g., stocker lifting unit 79) for moving up and down. The stocker lifting unit 79 has a support column 83 erected on the stocker base 81. The support column 83 stands upright at approximately the same height as the magazine stock unit 75. A stocker feed screw 85 is provided on the stocker base 81 along this support column 83. The stocker feed screw 85 is rotated by a stocker lifting motor 87 fixed to the top of the support column 83. The stocker feed screw 85 is fitted with the stocker nut portion 89.

[0025] A stocker lifting table 91 is fixed to the stocker nut section 89. A pair of sliding sections 71 (see Figure 5) are also fixed to the stocker lifting table 91. The sliding sections 71 are supported so as to be able to slide freely in the vertical direction by guide rails 73 fixed to the support column 83. The rotation of the stocker feed screw 85 in the rotational direction is restricted by the sliding sections 71 and the guide rails 73.

[0026] As a result, the stocker lifting table 91 moves up and down on the side of the magazine stock section 75 facing the second pallet moving section, for example, when the stocker lifting motor 87 is driven by the stocker control unit 93 (see Figure 8). At this time, the second pallet moving section 19 can position the stocker lifting table 91 at the height of the pallet 25 corresponding to the storage address by specifying the storage address assigned to the pallet storage section of the magazine stock section 75. The stocker control unit 93 for performing these controls is provided at the bottom of the magazine stock section 75.

[0027] Figure 4 is a perspective view of the pallet 25 shown in Figure 1. The pallet 25 is formed in a rectangular shape in plan view. The pallet 25 has a pair of parallel long sides, one of which is the first long side 95 and the other is the second long side 97. The pallet 25 is transported with either the first long side 95 or the second long side 97 facing the front end in the transport direction.

[0028] The pallet 25 is made of a magnetic material, at least in part including its top surface. A tray 27 made of a non-magnetic material such as resin is placed on the top surface of the pallet 25. Multiple parts 29 are arranged in an aligned manner on the tray 27. The tray 27 is held in a predetermined position on the pallet 25 by a positioning device 99.

[0029] Two tray positioning pieces 101 are fixed perpendicularly to the top surface of the pallet 25, parallel to the first long side 95 and one adjacent short side, respectively. The two tray positioning pieces 101 are arranged perpendicularly to each other, giving them an inner corner 103. The tray 27 is positioned relative to the pallet 25 by pressing its two sides against the tray positioning pieces 101, with one corner 105 aligning with the inner corner 103 of the pallet 25.

[0030] The tray 27, positioned on the pallet in this manner, is fixed to the pallet 25 by the positioning device 99 pressing against the side opposite to the side pressed against the tray positioning piece 101. The positioning device 99 has, for example, a magnet. The positioning device 99 is strongly fixed by magnetic force to the upper surface of the pallet 25, which is made of a magnetic material. As a result, the tray 27 is fixed and its movement on the pallet is restricted. At this time, the positioning device 99 has two lever parts 107 positioned above the upper surface of the pallet 25. The positioning device 99 can be easily removed from the pallet 25 by the principle of leverage by pushing these lever parts 107 toward the upper surface of the pallet 25.

[0031] Furthermore, the pallet 25 is provided with a first engaging portion 109 on the first long side portion 95 and a second engaging portion 111 on the second long side portion 97. The first engaging portion 109 and the second engaging portion 111 are arranged so that the opening sides of the engaging claws 113, which are formed in a U-shape in plan view, face each other. The distance between the engaging claws 113 of the first engaging portion 109 is greater than that of the second engaging portion 111. In Embodiment 1, the second engaging portion 111 engages with the traction portion (stocker engaging rod 115) of the second pallet moving portion 19 shown in Figure 5, and the first engaging portion 109 engages with the feeder engaging rod 117 (see Figure 5) of the first pallet moving portion 15.

[0032] Figure 5 is a plan view of the main part of the component mounting device 11 shown in Figure 1. The second pallet moving section 19 has a swivel section 119 that swivels in at least a first direction and a second direction. A swivel axis 121 in the Z direction is rotatably supported on the stocker lifting table 91. The swivel axis 121 rotates via a swivel belt 125 by a swivel motor 123 fixed to the stocker lifting table 91. A swivel table 127 is fixed to the upper end of this swivel axis 121. The swivel table 127 is formed in a rectangular shape in plan view. A rectangular traction device 129, which is long in a direction perpendicular to the swivel table 127, is fixed on top of this swivel table 127. In other words, the swivel table 127 and the traction device 129 intersect in a cross shape. The swivel table 127 and the traction device 129, which intersect in a cross shape, rotate together around the swivel axis 121 by the swivel motor 123.

[0033] Figure 6(A) is an enlarged view of the main part of the second pallet moving unit 19 as seen in the Y direction. Figure 6(B) is an enlarged view of the main part of the rotating unit 119 in Figure 6(A) after it has been rotated 90°. By rotating 90° from the state in Figure 6(A) (i.e., 90° clockwise), it transitions to the state in Figure 6(B). In other words, by rotating -90° from the state in Figure 6(B) (i.e., 90° counterclockwise), it transitions to the state in Figure 6(A). The second pallet moving unit 19 has a pallet guide unit 131 along a pair of parallel short sides of the rotating table 127 that guides the pallet 25 while supporting it from below when exchanging the pallets 25 between the tray feeder 13 and the stocker 17.

[0034] The towing device 129 is equipped with a stocker engagement rod 115 that can move forward and backward. The stocker engagement rod 115 engages with a second engagement portion 111 provided on the end (second long side portion 97) of the pallet 25. As the stocker lifting table 91 moves up and down, the stocker engagement rod 115 is inserted from above and below between the engagement claws 113 of the second engagement portion 111 and engages with the second engagement portion 111. The second pallet moving unit 19 can tow the pallet 25, with the stocker engagement rod 115 engaged with the second engagement portion 111, in a first or second direction by rotating the slewing table 127.

[0035] The traction device 129 has a main body base 133 that is perpendicular to the slewing table 127. A pair of belt tensioning shafts 135 are rotatably mounted on the main body base 133 along their respective short sides. An endless traction belt 137 is stretched across the belt tensioning shafts 135. A stocker engagement rod 115 is fixed to the upper circumferential portion of this traction belt 137. A traction motor 141 is connected to one of the pair of belt tensioning shafts 135 via a drive belt 139. Therefore, when the traction motor 141 is driven, for example by the stocker control unit 93, the traction device 129 allows the traction belt 137 to circumfer, and the stocker engagement rod 115 to reciprocate along a guide slit 143 (see Figure 5) formed in the longitudinal direction of the main body base 133. In the second pallet moving section 19, the stocker engagement rod 115 reciprocates along the longitudinal direction of the main body base 133. As the main body base 133 rotates together with the swivel table 127, the stocker engagement rod 115 moves in either the first or second direction.

[0036] Figure 7(A) is a magnified view of the main part of the second pallet moving section 19 that guides the pallet 25, viewed in the Y direction. Figure 7(B) is a magnified view of the main part of the swivel section 119 in Figure 7(A) rotated by 90°. In Figure 7(A), the pallet 25 is supported from below by the pallet guide section 131 of the swivel table 127. The second long side 97 of the pallet 25, where the second engaging section 111 is provided, is located on the front side of the paper in the figure. The first engaging section 109 is located on the back side of the paper in the figure and is not visible. Figure 7(A) is a side view in the Y direction of the state in Figure 12.

[0037] In Figure 7(B), the pallet 25 is in the state before the swivel section 119 in Figure 7(A) rotates 90° clockwise (in other words, the state after the swivel section 119 in Figure 7(A) has rotated 90° counterclockwise). The stocker engagement rod 115 of the traction device 129 is engaged with the second engagement section 111 of the pallet 25. Figure 7(B) is a side view in the Y direction of the state in Figure 11.

[0038] Next, the configuration of the control system for the component mounting device 11 according to Embodiment 1 will be described.

[0039] Figure 8 is a block diagram showing an example of the control system configuration for the component loading device 11 shown in Figure 1. The component loading device 11 and the stocker 17 are connected by wire or wireless means to enable data transmission and reception between them. The component loading device 11 controls the supply of pallets 25 from the stocker 17 and the retrieval of pallets 25 from the stocker 17, while transmitting and receiving instructions regarding component supply and stock information of pallets 25 between the tray feeder 13 and the stocker 17.

[0040] The component mounting device 11 includes a component mounting mechanism 47, a tray feeder 13, a device display / operation panel 145, and a device control unit 147.

[0041] The device control unit 147 includes a component mounting control unit 149, a component supply control unit 151, and a device storage unit 153.

[0042] The device storage unit 153 is configured using a data recording device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), and includes a component mounting information storage unit 155 and a component supply information storage unit 157. The component mounting information storage unit 155 stores mounting information indicating the number of components to be mounted (installed) on the circuit board brought into the component mounting device 11 and whether or not they are mounted. The component supply information storage unit 157 stores component supply information indicating the quantity of components to be mounted (installed) on the circuit board brought into the component mounting device 11, the storage address (for example, a combination of magazine, pallet, tray numbers on which each component is placed), and whether or not they are supplied to the component mounting device 11.

[0043] The component mounting control unit 149 constantly monitors the status of component mounting by the component mounting mechanism 47, manages and updates the component consumption (mounting) status based on this monitoring status as component mounting information, and writes and stores it in the component mounting information storage unit 155. Based on the component mounting information stored in the component mounting information storage unit 155, the component mounting control unit 149 controls the board transport mechanism 39 and the component mounting mechanism 47 to control the mounting of components 29 onto the board 33 by the head unit 31.

[0044] The parts supply control unit 151 monitors the remaining amount of parts on the trays that are consumed (i.e., mounted) by the parts mounting mechanism 47, and based on this monitoring status, sends a request instruction for parts 29 to the tray feeder 13. When the tray feeder 13 receives a request for parts 29 from the parts supply control unit 151, it pulls out the pallet 25 of the tray 27 holding the requested parts 29 from the corresponding magazine 49 by referring to the parts supply information stored in the parts supply information storage unit 157, and moves it to the parts retrieval position 23. If, as a result of referring to the parts supply information stored in the parts supply information storage unit 157, the parts supply control unit 151 finds that the requested parts 29 are not available or that there are only a few remaining, it sends a request instruction for parts 29 to the stocker 17. This request instruction for parts 29 to the stocker 17 is also displayed, for example, on the device display / operation panel 145.

[0045] The stocker 17 includes a stocker lifting unit 79, a second pallet moving unit 19, a stocker display / operation panel 159, and a stocker control unit 93.

[0046] The stocker control unit 93 includes a stocker transport control unit 161 and a stocker storage unit 163.

[0047] The stocker storage unit 163 is configured using a data recording device such as an HDD or SSD and has a stock information storage unit 165. The stock information storage unit 165 stores stock information indicating the quantity of parts to be supplied to the parts mounting device 11, the storage address (for example, a combination of magazine, pallet, tray numbers on which each part is placed), and whether or not parts have been supplied to the parts mounting device 11.

[0048] When the stocker transport control unit 161 receives a request for part 29 from the parts supply control unit 151 of the parts loading device 11, it refers to the parts stock information stored in the stock information storage unit 165 and uses the second pallet moving unit 19 to pull out the pallet 25 of the tray 27 holding the part 29 from the magazine stock unit 75. The second pallet moving unit 19 inserts the pulled-out pallet 25 from the rear surface 167 (see Figure 2) of the magazine 49 in the tray feeder 13, completing the supply of the pallet 25 to the tray feeder 13. If, as a result of referring to the parts stock information stored in the stock information storage unit 165, the stocker transport control unit 161 finds that the requested part 29 is unavailable or that the remaining quantity is low (for example, less than the specified amount), it displays a request for part 29 to the stocker 17 on the device display / operation panel 145, notifying the user that the part is out of stock or will soon be out of stock.

[0049] Next, an example of the operation procedure for supplying (transporting) a pallet 25 that holds a tray on which parts are placed, from the stocker 17 to the tray feeder 13 of the parts loading device 11 will be explained with reference to Figure 9.

[0050] Figure 9 is a flowchart showing an example of the procedure for transporting pallet 25.

[0051] In Figure 9, when a new pallet 25 holding a tray on which parts are placed is inserted (replenished) into the stocker 17 by a replenishment worker, the stocker control unit 93 of the stocker 17 detects the insertion (replenishment) of the pallet 25 into the stocker 17 using, for example, a sensor (not shown) (St1). In response to the detection in step St1, the stocker control unit 93 writes the quantity of parts 29 stocked in the stocker 17 and their storage addresses to the parts stock information and updates the stock information storage unit 165 of the stocker storage unit 163 (St2). As a result, the stocker 17 can accurately recognize the latest quantity of parts it holds and the storage addresses of each part.

[0052] The stocker 17 sends the updated parts stock information from step St2 to the parts loading device 11. The parts loading device 11 stores the parts stock information sent from the stocker 17 in the parts supply information storage unit 157 of the device storage unit 153 (St3). This allows the parts loading device 11 to share the amount of parts held by the stocker 17 with the stocker 17, and, as will be described later, can request the stocker 17 to replenish (supply) the parts if it determines that there are not enough parts necessary for production.

[0053] In the parts loading device 11, the device control unit 147 determines whether the tray feeder 13 has a sufficient supply of parts 29 required for the current production (St4). If there are parts 29 in the tray feeder 13 (St4, Yes), the determination in step St4 is repeated until it is determined that there are not enough parts.

[0054] If the tray feeder 13 determines that there are no or insufficient parts 29 required for the current production (St4, No), the device control unit 147 determines whether or not the parts 29 have been replenished in the stocker 17 (St5).

[0055] If the stocker 17 is not stocked with the part 29 (St5, NO), the control unit 147 of the parts loading device 11 sends a replenishment instruction to the stocker 17 for the part 29 that has been determined to be missing. Upon receiving the replenishment instruction from the control unit 147 of the parts loading device 11, the stocker 17 outputs information on the supply of the necessary part 29 to the stocker display / operation panel 159 based on the replenishment information (for example, a message prompting a replenishment worker to replenish the part 29 or a predetermined alert sound), prompting the replenishment of the part 29 (St6).

[0056] The replenishment worker, for example, recognizes the supply information output in step St6 and manually replenishes the stocker 17 with a new pallet 25 (see above). As a result, the stocker control unit 93 of the stocker 17 can detect, using a sensor (not shown) or the like, that a new pallet 25 (see above) has been replenished (inserted), update the parts stock information, and generate a replenishment completion notification including the updated parts stock information, which is sent to the parts loading device 11.

[0057] After step St6, the parts loading device 11 determines whether the necessary parts 29 have been supplied to the stocker 17 based on the receipt of the replenishment completion notification sent from the stocker 17 (St7). If it is determined that there are still not enough necessary parts 29 (St7, No), the parts loading device 11 repeats the process of steps St6 and St7 with the stocker 17 until it determines that the supply of necessary parts 29 has been completed. On the other hand, if it is determined that there are enough necessary parts 29 (St7, Yes), the process proceeds to step St8.

[0058] In the component loading device 11, the device control unit 147 determines whether there are empty pallets 25 in the tray feeder 13 based on the consumption (mounting) of the components 29, either by determining that the necessary components 29 are in the stocker 17 (St5, Yes) or by determining that the necessary components 29 have been supplied to the stocker 17 (St7, Yes). If it is determined that there are empty pallets 25 in the tray feeder 13, the device control unit 147 controls the system to retrieve the empty pallets 25 from the tray feeder 13 to the stocker 17 (St8). The empty pallets 25 are collected in a magazine 49 specifically for empty pallets, which is provided in the magazine stock section 75 of the stocker 17.

[0059] The retrieval of the empty pallets 25 may be performed independently by the tray feeder 13. In this case, the tray feeder 13 may be provided with a dedicated magazine 49 for storing the empty pallets 25.

[0060] Next, the stocker control unit 93 issues an instruction to the second pallet moving unit 19, which supplies the required pallets 25 from the stocker 17 to the tray feeder 13, completing the supply of pallets 25 (St9).

[0061] Next, we will explain an example of a specific operation during pallet transport.

[0062] Figure 10 is an explanatory diagram of the operation of the second pallet moving unit 19 just before it pulls the pallet 25 out of the stocker 17. The pallet 25 is housed in the magazine stock unit 75 such that the second engaging portion 111 is positioned on the side facing the second pallet moving unit (see Figure 10). In order to supply the pallet 25 to the tray feeder 13, the stocker lifting unit 79 of the second pallet moving unit 19 moves vertically, and the stocker engaging rod 115 of the traction device 129 engages with the second engaging portion 111 provided on the desired pallet 25.

[0063] Figure 11 is an explanatory diagram of the operation of the second pallet moving unit 19 after it has finished pulling out the pallet 25 from the stocker 17. The traction device 129, with the stocker engagement rod 115 engaged with the second engagement unit 111, is driven by the traction motor 141 to pull out the pallet 25 in the X direction onto the slewing table 127 together with the stocker engagement rod 115. Once the pallet 25 is pulled out onto the slewing table 127, both short sides of the pallet 25 are supported from below by a pair of pallet guide units 131.

[0064] Figure 12 is an explanatory diagram of the operation of the second pallet moving unit 19 when the swivel unit 119 rotates clockwise. Next, the swivel table 127 supporting the pallet 25 rotates 90 degrees clockwise together with the traction device 129. With the pallet 25 rotated 90 degrees clockwise, the first engagement portion 109, which is not engaged with the stocker engagement rod 115, is positioned on the side of the magazine rack 51. Therefore, the traction device 129 is positioned so that the stocker engagement rod 115, which is engaged with the second engagement portion 111, is on the rear side in the Y direction of the pallet 25.

[0065] Figure 13 is an explanatory diagram of the operation of the second pallet moving unit 19 with a pallet 25 inserted into the tray feeder 13. The traction device 129 moves the stocker engagement rod 115 in the Y direction. As the stocker engagement rod 115 moves in the Y direction, the pallet 25 slides along the pallet guide section 131 and is inserted from the rear surface 167 into the magazine 49 of the magazine rack 51 in the tray feeder 13. When inserting the pallet 25 at a different height, the stocker lifting table 91 is raised or lowered to the desired height. After the traction device 129 has inserted the pallet 25 into the tray feeder 13, the stocker lifting table 91 moves up or down to release the engagement with the second engagement section 111, and then retracts in a direction away from the tray feeder 13. The second pallet moving unit 19 returns the stocker engagement rod 115 to the retracted position and completes the supply of the pallet 25 to the tray feeder 13.

[0066] In addition, in the tray feeder 13, to retrieve the empty pallet 25, which no longer contains the parts 29, to the stocker 17, the empty pallet 25 is moved to the stocker 17 by following the reverse procedure described above.

[0067] Next, the operation of the component mounting device 11 according to Embodiment 1 will be explained.

[0068] The component loading device 11 uses a head unit 31 to retrieve components 29 stored in trays 27 placed on pallets 25 at component retrieval positions 23 and loads them onto a circuit board 33. The component loading device 11 includes a holding unit (e.g., a tray feeder 13) for holding the pallets 25, a retrieval position 61 from which the pallets 25 can be retrieved in a first direction (e.g., the Y direction) from the front surface 59 of the holding unit, and a first pallet moving unit 15 that moves the pallets 25 between two positions: a component retrieval position 23 from which the components 29 can be retrieved by the head unit 31, a stocker 17 that holds the pallets 25 so that the pallets 25 can be retrieved in a second direction (e.g., the X direction) different from the first direction, and a second pallet moving unit 19 that moves the pallets 25 between the holding unit and the stocker 17. Therefore, the component loading device 11 enables labor savings in pallet replenishment while suppressing spills into the passage 21 between lines, thereby increasing the stock capacity of the pallets 169.

[0069] The pallet transport device (e.g., second pallet moving unit 19) moves the pallet 25 between a stocker 17 that holds the pallet 25 containing the parts 29 and a holding unit (e.g., tray feeder 13) that holds the pallet 25 in order to supply the pallet 25 to a position where the parts 29 can be removed by a parts mounting unit (e.g., head unit 31) that mounts the parts 29 onto a substrate 33. The pallet transport device (e.g., second pallet moving unit 19) includes a pallet moving means for inserting and removing the pallet 25 into the holding unit (e.g., tray feeder 13) in a direction different from the direction in which the pallet 25 is inserted into or removed from the stocker 17. Here, the pallet moving means includes a lifting unit (e.g., stocker lifting unit 79) for moving up and down, a pallet guide unit 131 that guides the pallet 25 while supporting it from below, and a swivel unit 119 that rotates in the direction of inserting and removing the pallet 25 into or removed from the stocker 17 and in the direction of inserting and removing the pallet 25 into or removed from the holding unit (e.g., tray feeder 13).

[0070] In the component loading device 11, a pallet 25 is positioned at the component retrieval position 23. A tray 27 capable of storing multiple components 29 is placed on this pallet 25. The component loading device 11 uses a head unit 31 to retrieve the components 29 from the tray 27 on the pallet positioned at the component retrieval position 23 and loads them onto a circuit board 33 positioned at a work position on the circuit board transport mechanism.

[0071] Multiple pallets 25 are held in the tray feeder 13 of the parts loading device 11, and these pallets 25 are placed at the parts retrieval position 23. Each pallet 25 held in the tray feeder 13 is moved one by one to the parts retrieval position 23 by the first pallet moving unit 15. That is, the pallets 25 are moved by the first pallet moving unit 15 between two positions: a retrieval position 61 from which they can be retrieved in a first direction from the front surface 59 of the tray feeder 13, and the aforementioned parts retrieval position 23.

[0072] The component loading device 11 includes a tray feeder 13 and a stocker 17 that holds a large number of pallets 25. In this stocker 17, the pallets 25 are retrieved in a second direction different from the first direction. The stocker 17 and the tray feeder 13 are not arranged in series on a straight line along the first direction.

[0073] Figure 14 is an explanatory diagram illustrating the movement of a pallet 25 from a stocker 17 to a tray feeder 13. The pallet 25 held in the stocker 17 is moved between the stocker 17 and the tray feeder 13 by a second pallet moving unit 19. The pallet 25 is removed from the stocker 17 in a second direction (X direction) by the second pallet moving unit 19, then its direction is changed to a first direction (Y direction) different from the second direction, and it is inserted from the rear surface 167 of the tray feeder 13. The pallet 25 inserted from the rear surface 167 of the tray feeder 13 is removed in the first direction from the front surface 59 opposite to the rear surface 167 of the tray feeder 13 by a first pallet moving unit 15, and moved to the parts removal position 23.

[0074] Furthermore, once all the parts 29 have been supplied from the tray 27 on which the pallet 25 placed at the parts retrieval position 23 are delivered, the pallet 25 is returned to the stocker 17 in the reverse order of the above operation.

[0075] Thus, the parts loading device 11 is newly equipped with a large-capacity stocker 17 that can hold a large number of pallets 25. Pallets 25 that are loaded into and unloaded from the stocker 17 in a second direction are reversed by the second pallet moving unit 19, which acts as a pallet transport device, and loaded into and unloaded from the tray feeder 13 in a first direction. In other words, the second pallet moving unit 19 automatically enables the loading and unloading of pallets 25 to both the stocker 17 and the tray feeder 13 at the position where the second direction and the first direction intersect.

[0076] In the parts loading device 11, when the parts 29 in a tray 27 on a pallet held by the tray feeder 13 run out, a new pallet 25 is supplied from the stocker 17 as a replacement. When the parts 29 in a tray 27 on a pallet held by the stocker 17 run out, this empty pallet 25 is manually replaced with a new pallet 25 containing parts 29. Therefore, manual replenishment of parts 29 is not required until the parts 29 held in the large-capacity stocker 17 run out. This reduces the frequency of parts replenishment and enables labor-saving and automation of parts replenishment.

[0077] Furthermore, in the component loading device 11, as described above, the stocker 17 and the tray feeder 13 are not arranged on a straight line along the first direction. The stocker 17 and the tray feeder 13 are arranged in a direction that bends at the intersection of the second direction and the first direction in a plan view. As a result, the stocker 17 can set the loading and unloading direction of the pallet 25 to the second direction (X direction) along the passage 21. Consequently, compared to the case where the stocker 17 and the tray feeder 13 are arranged in series on a straight line intersecting the passage 21 between the equipment lines, the amount of material that spills out into the passage 21 can be reduced.

[0078] Furthermore, since the stocker 17 is not constrained to protrude into the aisle 21, can be positioned along the aisle 21 in the second direction, and can hold a large number of pallets 25 in the stacking direction, a significant increase in stock capacity can be achieved.

[0079] Furthermore, the second pallet moving unit 19 is further equipped with a pallet guide unit 131 that guides the pallet 25 while supporting it from below when exchanging the pallet 25 between the holding unit (e.g., tray feeder 13) and the stocker 17.

[0080] In this parts loading device 11, the second pallet moving unit 19 has a pallet guide unit 131 that guides the pallet 25 while supporting it from below. The pallet guide unit 131 guides the pallet 25 so that it can move freely in the second and first directions while supporting the pallet 25 from below as it is moved between the stocker 17 and the tray feeder 13. The pallet guide unit 131 can suppress displacement of the pallet 25 when changing direction from the second direction to the first direction or vice versa between the stocker 17 and the tray feeder 13. As a result, the parts loading device 11 can achieve high-speed pallet transport even in a curved transport path where the loading and unloading direction of the pallet 25 must be switched between the second and first directions.

[0081] Furthermore, the second pallet moving unit 19 has a swivel unit 119 that rotates in at least a first direction and a second direction.

[0082] In this component loading device 11, the second pallet moving unit 19 has a swivel unit 119 that rotates in at least a first direction and a second direction. Here, the pallet 25 is formed in a rectangular shape in plan view. The pallet 25 has a pair of parallel long sides, one of which is the first long side 95 and the other is the second long side 97. The pallet 25 is moved with either the first long side 95 or the second long side 97 facing the leading edge in the transport direction.

[0083] The transport direction can be divided into two: a supply direction in which the pallet 25 of the stocker 17 is moved to the tray feeder 13, and a retrieval direction in which the pallet 25 of the tray feeder 13 is moved to the stocker 17.

[0084] The component loading device 11 differs from, for example, in the supply direction, from simply moving the pallet 25 pulled out from the stocker 17 in a second direction in parallel to the first direction and inserting it into the tray feeder 13. That is, in the component loading device 11, the pallet 25 pulled out from the stocker 17 in a second direction is first rotated by the second pallet moving unit 19, thereby changing its direction from the second direction to the first direction and inserting it into the rear surface 167 of the tray feeder 13. As a result, the component loading device 11 can select whether the orientation of the pallet 25 that is ultimately inserted into the tray feeder 13 is such that the first long side 95 is in the direction of insertion into the tray feeder 13, or the second long side 97 is in the direction of insertion into the tray feeder 13, depending on the rotation direction of the rotating unit 119.

[0085] Furthermore, the second pallet moving section 19 is equipped with a lifting section (storage lifting section 79) for raising and lowering it.

[0086] In this parts loading device 11, the second pallet moving section 19 is equipped with a lifting section (for example, a stocker lifting section 79) for moving up and down. The lifting range of the lifting section is determined to match the height of the stocker 17 or the tray feeder 13, whichever is taller. In the parts loading device 11, a large-capacity stocker 17 capable of holding a large number of pallets 25 is newly provided, so it is assumed that the stocker 17 is taller than the tray feeder 13. The lifting section can stop at any position in the vertical direction along the surface of the stocker 17 on the second pallet moving section side, allowing the pallets 25 to be inserted into and removed from the stocker 17 at any position in the vertical direction. Similarly, the lifting section can stop at any position in the vertical direction along the rear surface 167 of the tray feeder 13, allowing the pallets 25 to be inserted into and removed from the tray feeder 13 at any position in the vertical direction.

[0087] Furthermore, the second pallet moving unit 19 is equipped with a retractable stocker engagement rod 115, and the pallet 25 is pulled in a first or second direction by the engagement of an engagement part (e.g., a second engagement part 111) provided at the end of the pallet 25 with a pulling part (e.g., the stocker engagement rod 115).

[0088] In this component loading device 11, the second pallet moving section 19 is equipped with a stocker engagement rod 115. The pallet 25 is provided with second engagement sections 111 at its ends, the first long side section 95 and the second long side section 97. By engaging the stocker engagement rod 115 with the second engagement sections 111 of the pallet 25, the pallet 25 can be pulled in either the first or second direction.

[0089] In the supply direction, the second pallet moving unit 19 engages the stocker engagement rod 115 with the second engagement portion 111 of the pallet 25 stored in the stocker 17, pulling the pallet 25 out of the stocker 17 in the second direction. With the stocker engagement rod 115 engaged with the second engagement portion 111, the pallet 25 is inserted into the tray feeder 13 from the rear surface 167 in the first direction. After inserting the pallet 25 into the tray feeder 13, the stocker engagement rod 115 disengages from the second engagement portion 111 and moves to the standby position from the rear surface 167 of the tray feeder 13, leaving the pallet 25 in the tray feeder 13.

[0090] Furthermore, in the retrieval direction, the second pallet moving unit 19 engages the stocker engagement rod 115 with the second engagement portion 111 of the pallet 25 stored in the tray feeder 13, pulling the pallet 25 out from the rear surface 167 of the tray feeder 13 in the first direction. With the stocker engagement rod 115 engaged with the second engagement portion 111, the pallet 25 is inserted into the stocker 17 from the side of the stocker 17 facing the second pallet moving unit in the second direction. After inserting the pallet 25 into the stocker 17, the stocker engagement rod 115 disengages from the second engagement portion 111 and moves to the standby position from the side of the stocker 17 facing the second pallet moving unit, leaving the pallet 25 in the stocker 17.

[0091] In this component loading device 11, for example, in the supply direction, the stocker engagement rod 115 is engaged with the second engagement part 111 provided at the front end of the stocker 17 in the withdrawal direction, and the pallet 25 is pulled out. The second pallet moving part 19, which has pulled out the pallet 25, changes the direction of transport of the pallet 25 from the second direction to the first direction by the swivel part 119, so that the stocker engagement rod 115 is engaged with the rear end of the pallet 25 in the transport direction. In this state, the stocker engagement rod 115 pushes the rear end of the pallet 25 in the transport direction and transports it in the first direction. In other words, the stocker engagement rod 115 moves the pallet 25 by pulling in the second direction and by pushing in the first direction.

[0092] In this case, the orientation of the first long side 95 and the second long side 97 of the pallet 25 stored in the stocker 17 is reversed compared to the orientation of the first long side 95 and the second long side 97 when inserted into the tray feeder 13. That is, the pallet 25 that was stored in the stocker 17 with the second long side 97 facing the second pallet moving part will have the first long side 95 facing the front 59 in the tray feeder 13. Therefore, the orientation of the pallet 25 when storing it in the stocker 17 can be determined based on the orientation of the pallet 25 that you want to store in the tray feeder 13.

[0093] In this parts loading device 11, the position of the stocker engagement rod 115 when the pallet 25 is pulled out from the stocker 17 can be set as the starting position when pushing the pallet 25 into the tray feeder 13. This allows the stocker engagement rod 115 to achieve a large pushing stroke. As a result, in the parts loading device 11, the stocker engagement rod 115 can be used for both pallet insertion and removal, and the structure of the second pallet moving section 19 can be simplified.

[0094] Furthermore, the component mounting device 11 has its first and second directions orthogonal in a plan view. Note that the fact that the first and second directions are orthogonal in a plan view is also true in Embodiment 2, which will be described later.

[0095] In this component mounting device 11, the first direction and the second direction are orthogonal in a plan view. The stocker 17 and the tray feeder 13 can be arranged in an L-shape in a plan view, in a direction that is bent at a right angle at the intersection of the second direction and the first direction in a plan view. As a result, when the pallet loading and unloading direction of the tray feeder 13 is perpendicular to the passage 21, the pallet loading and unloading direction of the stocker 17 can be made parallel to the passage 21. Consequently, compared to the case where the stocker 17 and the tray feeder 13 are arranged in series on a straight line intersecting the passage 21 between the equipment lines, the position of the stocker 17 can be bent at a right angle, thus reducing the likelihood of it flying out into the passage 21.

[0096] (Embodiment 2) Figure 15 is a perspective view of the pallet 169 used in Embodiment 2. In Embodiment 2, the same reference numerals are used for members and parts equivalent to those shown in Figures 1 to 14, and redundant explanations are omitted.

[0097] The component mounting device 171 according to Embodiment 2 (see Figure 16) differs from the configuration of Embodiment 1 in that a first engagement portion 109 is provided on the second long side portion 97 of the pallet 169, the traction portion is the stocker engagement rod 173 shown in Figure 16, and the traction device 175 is provided with pushers (first pusher 177, second pusher 179) shown in Figure 17. The other configurations are substantially the same as those of Embodiment 1.

[0098] The pallet 169 is provided with the same first engaging portion 109 on both the first long side portion 95 and the second long side portion 97. The other configurations of the pallet 169 are the same as those of Embodiment 1.

[0099] Figure 16 is a plan view of the main part of the component mounting device 171 according to Embodiment 2. The second pallet moving section 19 is equipped with a stocker engagement rod 173 on the traction device 175. The stocker engagement rod 173 engages with the first engagement section 109. Therefore, the stocker engagement rod 173 and the feeder engagement rod 117 are formed with the same width and engage with the first engagement section 109.

[0100] The second pallet moving unit 19 pulls the pallet 169 in a second direction (X direction) by engaging the first engaging portion 109 provided on the end of the pallet 169 (for example, the first long side portion 95) with the stocker engaging rod 173, and then pushers (for example, the first pusher 177, the second pusher 179) move the pallet 169 in a first direction (Y direction).

[0101] Figure 17(A) is an enlarged view of the main part of the second pallet moving section 181 as seen in the Y direction. Figure 17(B) is an enlarged view of the main part of the rotating section 119 of Figure 17(A) rotated 90° clockwise. The traction device 175 has a long pusher housing 183 fixed to the upper part of the main body base 133 in the same direction as the main body base 133. The pusher housing 183 has a first pusher drive section 185 and a second pusher drive section 187 arranged side by side in the width direction of the stocker engagement rod 173 (for example, in the direction along the first long side 95 of the pallet 169).

[0102] The first pusher drive unit 185 has a first pusher lifting unit 189 made of an air cylinder. The first pusher 177 is fixed to the forward / backward axis of the first pusher lifting unit 189. As shown in Figure 17(B), when the longitudinal direction of the pusher housing 183 is arranged along the X direction, the first pusher 177 is positioned on the side closer to the stocker 17 by the short arm 191. The first pusher 177 can move in the vertical direction by the forward / backward axis of the first pusher lifting unit 189 moving forward and backward. The first pusher lifting unit 189 lowers the first pusher 177 only when transporting the pallet 169, and at other times retracts the first pusher 177 to a position that does not obstruct pallet transport.

[0103] The first pusher drive unit 185 is provided with a pair of belt tensioning shafts 135 that are rotatably mounted along the respective short sides of the pusher housing 183. An endless traction belt 137 is stretched across the belt tensioning shafts 135. The first pusher lifting unit 189 is fixed to the lower circumferential portion of this traction belt 137. A pusher motor 193 is connected to one of the pair of belt tensioning shafts 135 via a drive belt 139. Therefore, when the pusher motor 193 is driven, for example by the device control unit 147, the traction belt 137 rotates, and the first pusher lifting unit 189 becomes capable of reciprocating along the guide slit 143 formed in the longitudinal direction of the pusher housing 183.

[0104] The second pusher drive unit 187 has a second pusher lifting unit 195 and a second pusher 179, and has a configuration almost identical to that of the first pusher drive unit 185. The second pusher 179 provided in the second pusher drive unit 187 is positioned on the side away from the stocker 17 by the long arm 197 when the longitudinal direction of the pusher housing 183 is arranged along the X direction, as shown in Figure 17(B). This is the only difference from the first pusher drive unit 185. The other configurations are the same as those of the first pusher drive unit 185.

[0105] Figure 18 is an explanatory diagram of the operation of the second pallet moving unit 181 just before it pulls the pallet 169 out of the stocker 17. The pallet 169 is housed in the magazine stock section 75 such that the first engaging portion 109 of the first long side 95 is positioned on the side facing the second pallet moving unit. In order to supply the pallet 169 to the tray feeder 13, the stocker lifting section 79 of the second pallet moving unit 181 is moved vertically, and the stocker engaging rod 173 of the traction device 175 engages with the first engaging portion 109 provided on the desired pallet 25.

[0106] Figure 19 is an explanatory diagram of the operation of the second pallet moving unit 181 after it has finished pulling out the pallet 169 from the stocker 17. The traction device 175, with the stocker engagement rod 173 engaged with the first engagement unit 109, is driven by the traction motor 141 to pull out the pallet 169 in the X direction to the slewing table 127 together with the stocker engagement rod 173. The pallet 25 that has been pulled out to the slewing table 127 is supported from below on both sides by a pair of pallet guide units 131.

[0107] Figure 20 is an explanatory diagram of the operation of the second pallet moving unit 181 when the pivoting unit 119 rotates clockwise. Next, the swivel table 127 supporting the pallet 169 rotates 90 degrees counterclockwise together with the towing device 175. With the pallet 169 rotated 90 degrees counterclockwise, the first engaging portion 109 of the stocker engaging rod 173 is positioned on the side of the magazine rack 51. Consequently, the towing device 175 is positioned so that the stocker engaging rod 173, which is engaged with the first engaging portion 109, is on the front side of the pallet 169 in the Y direction.

[0108] Figure 21 is an explanatory diagram of the operation of the second pallet moving section 181 when the first pusher 177 begins to push. The traction device 175 moves the stocker engagement rod 173 in the Y direction. As the stocker engagement rod 173 moves in the Y direction, the pallet 169 slides along the pallet guide section 131 and is partially inserted from the rear surface 167 into the magazine 49 of the magazine rack 51 in the tray feeder 13. When inserting the pallet 169 at different heights, the stocker lifting table 91 is raised or lowered to the desired height.

[0109] The traction device 175 stops when the stocker engagement rod 173 reaches the end of its movement direction while the pallet 169 is partially inserted into the tray feeder 13. The stopped stocker engagement rod 173 is moved up or down to disengage from the first engagement part 109, and then retracts in a direction away from the tray feeder 13. Next, the traction device 175 pushes the second long side 97 of the pallet 169 in the Y direction with the first pusher 177. The first pusher 177 stops when it reaches the end of its stroke while the pallet 169 is partially inserted into the tray feeder 13. The stopped first pusher 177 retracts in a direction away from the tray feeder 13.

[0110] Figure 22 is an explanatory diagram of the operation of the second pallet moving unit 181, in which the second pusher 179 inserts the pallet 169 into the tray feeder 13. Next, the traction device 175 pushes the second long side 97 of the pallet 169 in the Y direction with the second pusher 179. As a result, the pallet 169 is fully inserted into the magazine 49 in the tray feeder 13 where it is supplied. The traction device 175 moves the second pusher 179 to the retracted position, completing the supply of the pallet 169.

[0111] Here, the pallet transport operation using the first pusher 177 and the second pusher 179 will be further explained.

[0112] Figure 23 is an explanatory diagram illustrating the procedure for pushing the pallet 169 using the first pusher 177 and the second pusher 179.

[0113] To operate the first pusher 177 and the second pusher 179, first the traction device 175 pulls the pallet 169 from the magazine 49 of the stocker 17 to the pallet guide section 131. Next, the traction device 175 lowers and retracts the stocker engagement rod 115. The device control unit 147 drives the first pusher lifting section 189 to lower the first pusher 177. The first pusher 177 moves to a position where it can push the second long side 97 of the pallet 169.

[0114] Next, the device control unit 147 moves the first pusher 177 in the Y direction. As a result, the first long side 95 of the pallet 169 is inserted into the magazine 49 in the destination tray feeder 13, but the second long side 97 stops in a position where it protrudes from the magazine 49. The device control unit 147 drives the first pusher lifting unit 189 to raise the first pusher 177 and move the first pusher 177 out of the position where it can transport the pallet.

[0115] Next, the device control unit 147 drives the second pusher lifting unit 195 to lower the second pusher 179. The second pusher 179 moves to a position where it can push the second long side 97 of the pallet 169.

[0116] Finally, the device control unit 147 moves the second pusher 179 in the Y direction. This causes the pallet 169 to be fully inserted into the destination magazine 49.

[0117] Next, the operation of the component mounting device 171 according to Embodiment 2 will be described.

[0118] In the parts loading device 171 according to Embodiment 2, the second pallet moving unit 19 is equipped with a movable pulling unit (e.g., a stocker engagement rod 173) and pushers (e.g., a first pusher 177 and a second pusher 179). The pulling unit engages with an engagement unit provided at the end of the pallet 169 to pull the pallet 169 in the second direction (X direction), after which the pushers move the pallet 169 in the first direction (Y direction). Therefore, the parts loading device 171 enables labor savings in pallet replenishment while suppressing the pallets from flying out into the passage 21 between lines, thereby increasing the stock capacity of the pallets 169.

[0119] In this component mounting device 171, the second pallet moving unit 19 comprises a stocker engagement rod 173, a first pusher 177, and a second pusher 179. The pallet 169 is provided with first engagement portions 109 on its first long side 95 and second long side 97. The stocker engagement rod 173 can pull the pallet 169 in the X direction by engaging with the first engagement portions 109 of the pallet 169. The first pusher 177 and the second pusher 179 can move the pallet 169, which is being pulled by the stocker engagement rod 173, in the Y direction.

[0120] Figure 24 is an explanatory diagram illustrating the operation of moving a pallet 169 from a stocker 17 to a tray feeder 13. In the supply direction, the second pallet moving unit 181 engages the stocker engagement rod 173 with the first engagement portion 109 of the first long side portion 95 of the pallet 169 stored in the stocker 17, pulling the pallet 169 out of the stocker 17 in the X direction, and then changes the direction of the pallet 169 in the Y direction while the stocker engagement rod 173 is engaged with the first engagement portion 109. The stocker engagement rod 173 then disengages from the first engagement portion 109. Next, the second pallet moving unit 19 pushes the pallet 169 to the storage completion position in the tray feeder 13 using the first pusher 177 and then the second pusher 179 in that order. After the pallet insertion is complete, the second pusher 179 is returned to the standby position from the rear surface 167 of the tray feeder 13, leaving the pallet 169 in the tray feeder 13.

[0121] Furthermore, in the retrieval direction, the second pallet moving unit 19 pushes back the pallet 169 stored in the tray feeder 13 from the rear surface 167 of the magazine rack 51. This pushing back of the pallet 169 is performed, for example, by inserting the feeder engagement rod 117 from the front surface 59 of the magazine rack 51. Next, the stocker engagement rod 173 engages with the first engagement portion 109 of the second long side portion 97 and is pulled out to the position of the swivel table 127.

[0122] Next, the pallet 169 is rotated 90 degrees clockwise and inserted in the X direction from the side of the stocker 17 on the second pallet movement section using the stocker engagement rod 173. With the pallet 169 inserted into the stocker 17, the stocker engagement rod 173 releases its engagement with the first engagement section 109 and returns to the standby position from the side of the stocker 17 on the second pallet movement section, leaving the pallet 169 in the stocker 17.

[0123] In this component loading device 171, for example, in the supply direction, the stocker engagement rod 173 engages with the first engagement portion 109 provided on the first long side portion 95 on the front side in the direction of withdrawal from the stocker 17, and the pallet 169 is pulled out. After the pallet 169 has been pulled out, the second pallet moving unit 181 changes the direction of transport of the pallet 169 from the X direction to the Y direction by the swivel portion 119. From this state, the second pallet moving unit 181 uses the first pusher 177 and the second pusher 179 to push the pallet 169 in the Y direction, using the second long side portion 97 on the rear side in the transport direction. In other words, the second pallet moving unit 181 pulls the pallet 169 in the X direction with the stocker engagement rod 173 and pushes the pallet 169 in the Y direction with the first pusher 177 and the second pusher 179.

[0124] In this case, the orientation of the first long side 95 and the second long side 97 of the pallet 169 stored in the stocker 17 is the same as the orientation of the first long side 95 and the second long side 97 when inserted into the tray feeder 13. That is, in the stocker 17, the pallet 169 is stored with the first long side 95 facing the second pallet moving part, and in the tray feeder 13, the first long side 95 is positioned on the front surface 59.

[0125] This component mounting device 171 allows the orientation of the pallet 169 when it is stored in the stocker 17 to be the same as the orientation of the pallet 169 when it is to be stored in the tray feeder 13. The pallet 169 is always transported with the leading edge in the transport direction as the first long side 95.

[0126] Although various embodiments have been described above with reference to the drawings, it goes without saying that this disclosure is not limited to such examples. It is clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and these are also understood to fall within the technical scope of this disclosure. Furthermore, the components of the various embodiments described above can be combined arbitrarily without departing from the spirit of the invention.

[0127] In the embodiment described above, the first pallet moving unit 15 moved the pallet 25 between a removal position 61 from which the pallet 25 could be removed in the Y direction from the front of the holding unit (e.g., tray feeder 13) and a parts removal position 23 from which parts 29 could be removed by the parts mounting unit (e.g., head unit 31). However, the holding unit (e.g., tray feeder 13) may also be able to raise and lower the magazine 49. In this case, the first pallet moving unit 15 may pull out the pallet 25 from which parts 29 are to be removed from the holding unit (e.g., tray feeder 13) that is capable of raising and lowering the magazine 49.

[0128] Furthermore, in the above-described embodiment, a head unit 31 was given as an example of a component mounting section, and an example was described in which the head unit 31 holds components 29 stored in a tray 27 by suction nozzle 45 and mounts them on a substrate 33. However, the example configuration of the component mounting section is not limited to the head unit 31, and the component mounting section may also use gripping means other than the suction nozzle 45 to grip and transfer the components 29. For example, such a component mounting section may grip the components 29 (e.g., leaded components) from both sides and mount them on the substrate 33.

[0129] This application is based on the Japanese Patent Application No. 2020-123899 filed on July 20, 2020, and its contents are incorporated herein by reference. [Industrial applicability]

[0130] This disclosure is useful as a parts loading device and pallet transport device that enables labor savings in pallet replenishment, suppresses pallet spillage into inter-line aisles, and expands pallet stock capacity. [Explanation of Symbols]

[0131] 11. Component mounting device 13. Tray feeder (pallet holding unit) 15. First pallet moving section 17 Stocker 19. Second pallet moving section 23. Parts removal location 25 pallets 27 trays 29 parts 31 Head Unit 33 circuit boards 59 Front 61 Removal position 79. Stocker Lifting Section (Lifting Section) 95 First long side (end) 97 Second long side (end) 109 First engaging portion (engaging portion) 111 Second engaging portion (engaging portion) 115 Stocker engagement rod (traction section) 119 Swivel section 131 Pallet guide section 169 Palette 171 Component mounting device 173 Stocker engagement rod (traction section) 177 First pusher (pusher) 179 Second pusher (pusher) 181 Second Pallet Moving Section

Claims

1. A component mounting device that removes components stored in trays placed on a pallet at a component removal position, and mounts them onto a circuit board using a component mounting unit, A holding part for holding the pallet, A first pallet moving unit moves the pallet between a removal position from which the pallet can be removed from the front of the holding unit and a parts removal position from which the parts can be removed by the parts mounting unit. A stocker that holds multiple magazines for storing the aforementioned pallets, spaced apart in the vertical direction, The system includes a second pallet moving unit, which is positioned on the rear side of the holding unit and moves the pallet between the holding unit and the stocker, The second pallet moving unit has a pallet guide section that supports a pair of opposing sides of the pallet. Component mounting device.

2. The pallet guide section guides the pallet while supporting it from below when the pallet is being swapped between the holding section and the stocker. The component mounting device according to claim 1.

3. The first pallet moving unit moves the pallet between a removal position from which the pallet can be removed in a first direction from the front of the holding unit and a parts removal position from which the parts can be removed by the parts mounting unit. The pallet can be removed from the stocker in a second direction different from the first direction. The second pallet moving unit comprises a swivel unit that rotates in at least the first direction and the second direction. A component mounting device according to claim 1 or 2.

4. The second pallet moving unit includes a lifting unit for raising and lowering it vertically. A component mounting device according to any one of claims 1 to 3.

5. The second pallet moving unit comprises a movable towing unit, and the towing unit engages with an engaging unit provided at the end of the pallet to pull the pallet in the first or second direction. The component mounting device according to claim 3.

6. The second pallet moving unit comprises a movable towing unit and a pusher, and the towing unit engages with an engaging unit provided at the end of the pallet to pull the pallet in the second direction, after which the pusher moves the pallet in the first direction. The component mounting device according to claim 3.

7. The first direction and the second direction are orthogonal in a plan view. A component mounting device according to any one of claims 3, 5, or 6.

8. A pallet transport device that moves a pallet between a stocker, which holds multiple magazines that store pallets for parts in a removable manner at vertical intervals, and a holding unit that holds the pallet in order to supply the pallet to a position where the parts can be removed by a parts mounting unit that mounts the parts onto a circuit board, The system includes a pallet moving means for inserting and removing the pallet from the holding portion in a direction different from the direction in which the pallet is inserted into or removed from the stocker, The pallet moving means is, A lifting mechanism for raising and lowering, A pallet guide section that guides the pallet while supporting it from below, The device has a pivoting part that rotates in a direction for inserting and removing the pallet from the stocker and in a direction for inserting and removing the pallet from the holding part. Pallet transport device.

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