Parts supply device

Abstract

This component supply device comprises: a stage on which a plurality of types of components are scattered; a scattering device for scattering the components on the stage; an imaging device for capturing an image of the components scattered on the stage each time the components are scattered on the stage by the scattering device; and a determination device for determining whether or not all of the plurality of types of components scattered on the stage satisfy an adequacy requirement on the basis of imaging data resulting from the imaging device imaging the components scattered on the stage.

Description

Technical Field

[0001] The present invention relates to a component supply device including a stage on which components are scattered.

Background Art

[0002] Some component supply devices include a stage on which components are scattered, as described in the following patent documents.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to suitably supply components to a stage on which a plurality of types of components are scattered.

Means for Solving the Problems

[0005] To solve the above problems, this specification provides a component supply device including a stage on which a plurality of types of components are scattered, a scattering device that scatters components on the stage, an imaging device that images the components scattered on the stage each time the scattering device scatters components on the stage, and a determination device that determines whether all types of components among the plurality of types of components scattered on the stage are sufficient based on imaging data obtained by the imaging device imaging the components scattered on the stage. The determination device calculates, based on the imaging data captured by the imaging device of the parts scattered on the stage, the occupancy rate of the parts scattered on the stage relative to the area of ​​the stage and the average value of the parts that can be held among all types of parts of the multiple types of parts scattered on the stage, and determines whether or not the requirements are met for all types of parts of the multiple types of parts scattered on the stage based on the occupancy rate and the average value. is disclosed.

Effects of the Invention

[0006] According to this disclosure, each time the scattering device scatters parts on the stage, the parts scattered on the stage are imaged by the imaging device, and based on the image data captured by the imaging device, it is determined whether all types of parts among the multiple types of parts scattered on the stage are satisfied. This makes it possible to supply parts to the stage in a suitable manner. [Brief explanation of the drawing]

[0007] [Figure 1] This is a perspective view showing a component mounting machine. [Figure 2] This is a perspective view showing a component mounting machine / device. [Figure 3] This is a perspective view showing a loose parts supply system. [Figure 4] This is a perspective view showing a loose parts supply device. [Figure 5] This is a transparency diagram showing a bulk parts supply device. [Figure 6] This is a plan view showing the main body of the loose parts supply system. [Figure 7] This is a transparency diagram showing a bulk parts supply device. [Figure 8] This is a perspective view showing a component support device. [Figure 9] This is a perspective view showing a component support device. [Figure 10] This is a perspective view showing the component holding head. [Figure 11] This diagram shows a component holder with electronic circuit components housed inside. [Figure 12] Block diagram of the control system for a component mounting machine. [Figure 13] This is a perspective view showing a loose parts supply system equipped with two parts supply devices. [Figure 14] This figure shows the parts that can be held during the Nth imaging. [Figure 15] This figure shows the component occupancy rate, the number of retainable components, the average number of retainable components, and the supplied components at the Nth imaging step. [Figure 16] This diagram shows a flowchart of the process when the parts supply operation is performed. [Figure 17] This diagram shows a flowchart of the process when the parts supply operation is performed. [Modes for carrying out the invention]

[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the figures, as embodiments for carrying out the present invention.

[0009] Figure 1 shows a component mounting machine 10. The component mounting machine 10 is a device for mounting components onto a circuit board 12. The component mounting machine 10 comprises a main unit 20, a substrate transport and holding device 22, a component mounting device 24, imaging devices 26, 28, an aligned component supply system 30, a loose component supply system 32, and a control device (see Figure 12) 34. The circuit board 12 can be a circuit board, a three-dimensional structured substrate, etc., and the circuit board can be a printed wiring board, a printed circuit board, etc.

[0010] The main body of the device 20 consists of a frame 40 and a beam 42 mounted on the frame 40. The substrate transport and holding device 22 is located in the center of the frame 40 in the front-rear direction and has a transport device 50 and a clamping device 52. The transport device 50 is a device for transporting the circuit substrate 12, and the clamping device 52 is a device for holding the circuit substrate 12. As a result, the substrate transport and holding device 22 transports the circuit substrate 12 and also holds the circuit substrate 12 fixedly in a predetermined position. In the following description, the transport direction of the circuit substrate 12 will be referred to as the X direction, the horizontal direction perpendicular to that direction will be referred to as the Y direction, and the vertical direction will be referred to as the Z direction. In other words, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

[0011] The component mounting device 24 is disposed on the beam 42 and has two work heads 60, 62 and a work head moving device 64. Each of the work heads 60, 62 has a suction nozzle (see FIG. 2) 66 and holds components by the suction nozzle 66. Further, the work head moving device 64 has an X-direction moving device 68, a Y-direction moving device 70, and a Z-direction moving device 72. Then, by the X-direction moving device 68 and the Y-direction moving device 70, the two work heads 60, 62 are integrally moved to an arbitrary position on the frame 40. Also, as shown in FIG. 2, each of the work heads 60, 62 is detachably attached to sliders 74, 76, and the Z-direction moving device 72 moves the sliders 74, 76 individually in the vertical direction. That is, the work heads 60, 62 are individually moved in the vertical direction by the Z-direction moving device 72.

[0012] The imaging device 26 is attached to the slider 74 in a downward-facing state and is moved in the X-direction, Y-direction, and Z-direction together with the work head 60. Thereby, the imaging device 26 images an arbitrary position on the frame 40. As shown in FIG. 1, the imaging device 28 is disposed in an upward-facing state between the base material conveyance and holding device 22 and the aligned component supply system 30 on the frame 40. Thereby, the imaging device 28 images the components held by the suction nozzles 66 of the work heads 60, 62.

[0013] The aligned component supply system 30 is disposed at one end of the frame 40 in the front-rear direction. The aligned component supply system 30 has a tray-type component supply device 78 and a feeder-type component supply device (not shown). The tray-type component supply device 78 is a device that supplies components placed on a tray. The feeder-type component supply device is a device that supplies components by a tape feeder (not shown) and a stick feeder (not shown).

[0014] The loose parts supply system 32 is located at the other end of the frame 40 in the front-rear direction. The loose parts supply system 32 is a device that aligns multiple parts that are scattered loosely and supplies the parts in an aligned state. In other words, it is a device that aligns multiple parts in any orientation to a predetermined orientation and supplies the parts in that predetermined orientation. The configuration of the loose parts supply system 32 will be described in detail below. The parts supplied by the aligned parts supply system 30 and the loose parts supply system 32 include electronic circuit components, solar cell components, power module components, etc. Furthermore, electronic circuit components include parts with leads and parts without leads.

[0015] As shown in Figure 3, the loose parts supply system 32 includes a main body 80, a loose parts supply device 82, a two-dimensional imaging device 84, and a parts transfer device 86.

[0016] The loose parts supply device 82 includes a parts supply device 88, a frame 89, a parts support device (see Figure 4) 90, and a parts return device (see Figure 4) 92, with the parts supply device 88, frame 89, parts support device 90, and parts return device 92 being integrally configured. The loose parts supply device 82 is detachably assembled to the main body 80.

[0017] The parts supply device 88 generally has a rectangular box shape and is arranged to extend in the Y direction, as shown in Figures 4 and 5. The Y direction is described as the front-to-back direction of the parts supply device 88, the direction toward the side where the parts return device 92 is located in the loose parts supply device 82 is described as the front, and the direction toward the side where the parts supply device 88 is located is described as the rear.

[0018] The parts supply device 88 has openings on its top and front. The top opening is a parts input port 97, and the front opening is a parts discharge port 98. Below the input port 97 of the parts supply device 88, an inclined plate 104 is provided. The inclined plate 104 is positioned to slope downward from the rear end face of the parts supply device 88 toward the center.

[0019] Furthermore, a conveyor device 106 is installed on the front side of the inclined plate 104, as shown in Figure 5. The conveyor device 106 is installed so as to be inclined upward from the front end of the inclined plate 104 toward the front of the parts supply device 88. The conveyor belt 112 of the conveyor device 106 rotates counterclockwise in Figure 5, driven by an electromagnetic motor (see Figure 12) 116. In other words, the conveying direction by the conveyor device 106 is diagonally upward toward the front from the front end of the inclined plate 104.

[0020] Furthermore, an inclined plate 126 is provided below the front end of the conveyor device 106. The inclined plate 126 is provided from the front end face of the parts supply device 88 toward the bottom of the conveyor device 106, and its rear end is inclined diagonally downward. In addition, an inclined plate 128 is provided below the inclined plate 126. The inclined plate 128 is inclined so that its front end is located downward, extending from below the central part of the conveyor device 106 toward the discharge port 98 of the parts supply device 88.

[0021] Furthermore, as shown in Figure 4, the frame 89 is composed of a pair of side frames 130 and a connecting frame 132. The pair of side frames 130 are erected facing each other, parallel to each other, and extending in the Y direction. The connecting frame 132 is spanned across the lower ends of the pair of side frames 130, and the pair of side frames 130 are connected by the connecting frame 132. The distance between the pair of side frames 130 is slightly larger than the width dimension of the parts supply device 88, and the parts supply device 88 is mounted between the pair of side frames 130 in a positioned state so as to be able to be attached and detached with a single touch. Note that "attachable and detachable with a single touch" means that it can be reproducibly attached and detached by an operator without the use of tools or other means.

[0022] Furthermore, as shown in Figure 6, five slots 140 are formed on the upper surface of the main body 80 of the loose parts supply system 32. Each slot 140 is formed to extend in the Y direction, and the five slots 140 are adjacent to each other in the X direction at the same pitch. These five slots 140 are identical in shape. The dimension of each slot 140 in the X direction, i.e., the width dimension, is smaller than the width dimension of the frame 89 of the loose parts supply device 82. Also, the dimension of each slot 140 in the Y direction, i.e., the length dimension, is slightly larger than the length dimension of the frame 89 of the loose parts supply device 82. The frame 89 of the loose parts supply device 82 is bolted to each slot 140. As a result, the loose parts supply device 82 can be attached and detached by an operator using a tool, by utilizing each slot 140 of the main body 80 and positioning it in the corresponding mounting area 141.

[0023] Furthermore, as shown in Figures 4 and 5, the parts support device 90 includes a parts support member 150 and a parts support member moving device 152. The parts support member 150 is composed of a stage 156 and a pair of side wall portions 158. The stage 156 is generally a long plate shape and is positioned to extend forward from below the parts supply device 88, which is mounted between a pair of side frames 130. The width dimension of the stage 156 is approximately the same as the dimension between the pair of side frames 130, that is, the width dimension of the frame 89, and the rear end of the stage 156 is located between the pair of side frames 130. The upper surface of the stage 156 is generally horizontal, and as shown in Figure 5, at its rear end, it is positioned with a small clearance from the front end of the inclined plate 128 of the parts supply device 88. Furthermore, as shown in Figure 4, a pair of side wall sections 158 are fixed in an upright position on both sides of the longitudinal direction of the stage 156, and the upper ends of each side wall section 158 extend upward from the upper surface of the stage 156.

[0024] Furthermore, the component support member moving device 152 slides the component support member 150 in the Y direction by the operation of the air cylinder (see Figure 12) 166. During this process, the component support member 150 moves between a stored state where it is stored below the component supply device 88 (see Figure 7) and an exposed state where it is exposed from below the component supply device 88 (see Figure 5).

[0025] As shown in Figure 8, the parts return device 92 includes a parts storage container 180 and a container rocking device 181. The parts storage container 180 is generally box-shaped with an arc-shaped bottom. The width of the parts storage container 180 is approximately the same as the width of the stage 156. The parts storage container 180 is held oscillatingly at the front end of the stage 156 and rocks when the container rocking device 181 is operated. During this time, the parts storage container 180 rocks between a storage position with its opening facing upward (see Figure 8) and a return position with its opening facing the upper surface of the stage 156 of the parts support member 150 (see Figure 9).

[0026] The two-dimensional imaging device 84 includes a camera 290 and a camera moving device 292, as shown in Figure 3. The camera moving device 292 includes a guide rail 296 and a slider 298. The guide rail 296 is fixed to the main body 80 above the parts supply device 88 and extends in the width direction (X direction) of the loose parts supply system. The slider 298 is slidably mounted on the guide rail 296 and slides to any position by the operation of an electromagnetic motor (see Figure 12) 299. The camera 290 is mounted on the slider 298 facing downwards.

[0027] As shown in Figure 3, the parts transfer device 86 includes a parts holding head moving device 300, a parts holding head 302, and two shuttle devices 304.

[0028] The part holding head moving device 300 includes an X-direction moving device 310, a Y-direction moving device 312, and a Z-direction moving device 314. The Y-direction moving device 312 has a Y-slider 316 positioned above the loose part supply device 82 so as to extend in the X direction, and the Y-slider 316 moves to any position in the Y direction by being driven by an electromagnetic motor (see Figure 12) 319. The X-direction moving device 310 has an X-slider 320 positioned on the side of the Y-slider 316, and the X-slider 320 moves to any position in the X direction by being driven by an electromagnetic motor (see Figure 12) 321. The Z-direction moving device 314 has a Z-slider 322 positioned on the side of the X-slider 320, and the Z-slider 322 moves to any position in the Z direction by being driven by an electromagnetic motor (see Figure 12) 323.

[0029] As shown in Figure 10, the part holding head 302 includes a head body 330, a suction nozzle 332, a nozzle swivel device 334, and a nozzle rotation device 335. The head body 330 is integrally formed with the Z slider 322. The suction nozzle 332 holds the part and is detachably mounted on the lower end of the holder 340. The holder 340 is bendable on the support shaft 344, and the holder 340 bends upward by 90 degrees when the nozzle swivel device 334 is operated. As a result, the suction nozzle 332 mounted on the lower end of the holder 340 swivels by 90 degrees and is positioned in the swiveled position. In other words, the suction nozzle 332 swivels between the non-swiveled position and the swiveled position when the nozzle swivel device 334 is operated. Of course, it is also possible to position and stop it at an angle between the non-swiveled position and the swiveled position. The nozzle rotation device 335 rotates the suction nozzle 332 around its axis.

[0030] Furthermore, as shown in Figure 3, each of the two shuttle devices 304 includes a parts carrier 388 and a parts carrier moving device 390, and is fixed to the main body 80, arranged laterally in front of the loose parts supply device 82. Five parts receiving members 392 are mounted on the parts carrier 388 in a single row in the lateral direction, and parts are placed on each of the parts receiving members 392.

[0031] The loose component supply system 32 is capable of supplying various components, and various component receiving members 392 are available depending on the shape of the component. Here, as an example of an electronic circuit component supplied by the loose component supply system 32, we will describe a component receiving member 392 corresponding to a leaded component 410, as shown in Figure 11. The leaded component 410 consists of a block-shaped component body 412 and two leads 414 protruding from the bottom surface of the component body 412.

[0032] Furthermore, the component receiving member 392 has a component receiving recess 416 shaped to match the lead component 410. The component receiving recess 416 is a stepped recess and consists of a main body receiving recess 418 that opens on the upper surface of the component receiving member 392 and a lead receiving recess 420 that opens on the bottom surface of the main body receiving recess 418. The lead component 410 is then inserted into the component receiving recess 416 with the lead 414 facing downwards. As a result, the lead 414 is inserted into the lead receiving recess 420, and the component body 412 is inserted into the main body receiving recess 418, while the lead component 410 is placed inside the component receiving recess 416.

[0033] Furthermore, as shown in Figure 3, the parts carrier moving device 390 is a plate-shaped longitudinal member and is positioned in front of the loose parts supply device 82 so as to extend in the front-rear direction. A parts carrier 388 is mounted on the upper surface of the parts carrier moving device 390 so as to be slidable in the front-rear direction and slides to any position in the front-rear direction by the drive of an electromagnetic motor (see Figure 12) 430. When the parts carrier 388 slides toward the loose parts supply device 82, it slides to a parts receiving position located within the movement range of the parts holding head 302 by the parts holding head moving device 300. On the other hand, when the parts carrier 388 slides toward the loose parts supply device 82, it slides to a parts supply position located within the movement range of the work heads 60 and 62 by the work head moving device 64.

[0034] Furthermore, as shown in Figure 12, the control device 34 includes a central control device 450, a plurality of individual control devices (only one is shown in the figure) 452, and an image processing device 454. The central control device 450 is primarily computer-based and is connected to the substrate transport and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the aligned component supply system 30, and the loose component supply system 32. Thus, the central control device 450 controls the substrate transport and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the aligned component supply system 30, and the loose component supply system 32 in a comprehensive manner. The plurality of individual control devices 452 are primarily computer-based and are provided corresponding to the substrate transport and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the aligned component supply system 30, and the loose component supply system 32 (only the individual control device 452 corresponding to the loose component supply system 32 is shown in the figure).

[0035] The individual control device 452 of the loose parts supply system 32 is connected to the parts supply device 88, parts support device 90, parts return device 92, camera movement device 292, parts holding head movement device 300, parts holding head 302, and shuttle device 304. This allows the individual control device 452 of the loose parts supply system 32 to control the parts supply device 88, parts support device 90, parts return device 92, camera movement device 292, parts holding head movement device 300, parts holding head 302, and shuttle device 304. Additionally, the image processing device 454 is connected to the two-dimensional imaging device 84 and processes the imaging data captured by the two-dimensional imaging device 84. This image processing device 454 is connected to the individual control device 452 of the loose parts supply system 32. This allows the individual control device 452 of the loose parts supply system 32 to acquire the imaging data captured by the two-dimensional imaging device 84.

[0036] The component mounting machine 10 performs component mounting on the circuit board 12 held by the substrate transport and holding device 22, according to the configuration described above. Specifically, the circuit board 12 is transported to the work position by the substrate transport and holding device 22, and is fixedly held at that position by the clamping device 52. Next, the imaging device 26 moves above the fixedly held circuit board 12 and images the circuit board 12. This provides information regarding the error in the holding position of the circuit board 12. In addition, the alignment component supply system 30 or the loose component supply system 32 supplies components at predetermined supply positions. The supply of components by the loose component supply system 32 will be explained in detail later. Then, either the work head 60 or 62 moves above the component supply position and holds the component with the suction nozzle 66. Subsequently, the work head 60 or 62 holding the component moves above the imaging device 28, and the imaging device 28 images the component held by the suction nozzle 66. This provides information regarding the error in the holding position of the component. Then, the work heads 60 and 62, which hold the components, move above the circuit board 12 and mount the components they are holding onto the circuit board 12, correcting for any errors in the holding position of the circuit board 12, errors in the holding position of the components, etc.

[0037] In the loose parts supply system 32, lead parts 410 are fed into the input port 97 of the parts supply device 88 by an operator, and the fed lead parts 410 are supplied in a state where they are placed on the parts receiving member 392 of the parts carrier 388 by the operation of the loose parts supply device 82 and the parts transfer device 86.

[0038] In detail, the operator inserts lead parts 410 through the input opening 97 on the top surface of the parts supply device 88. At this time, the parts support member 150 is moved below the parts supply device 88 by the operation of the parts support member moving device 152, and is in a so-called stored state (see Figure 7). When the parts support member 150 is in the stored state, the parts storage container 180, which is located at the front end of the parts support member 150, is located in front of the parts supply device 88, and the opening of the parts storage container 180 is facing upward (storage position).

[0039] The lead parts 410, fed into the input port 97 of the parts supply device 88, fall onto the inclined plate 104 of the parts supply device 88 and roll down to the lower front end of the inclined plate 104. At this point, the lead parts 410 that have rolled down to the lower front end of the inclined plate 104 are piled up between the lower front end of the inclined plate 104 and the lower rear end of the conveyor device 106. When the conveyor device 106 is activated, the conveyor belt 112 of the conveyor device 106 rotates counterclockwise as shown in Figure 7. At this time, the lead parts 410 piled up between the inclined plate 104 and the conveyor belt 112 are transported diagonally upward by the conveyor belt 112.

[0040] The lead parts 410, transported by the conveyor belt 112, then fall onto the inclined plate 126 from the upper front end of the conveyor device 106. The lead parts 410 that fall onto the inclined plate 126 roll backward and fall onto the inclined plate 128. The lead parts 410 that fall onto the inclined plate 128 roll forward and are discharged from the front outlet 98 of the parts supply device 88.

[0041] As a result, the lead parts 410 discharged from the discharge port 98 of the parts supply device 88 are stored inside the parts storage container 180. When a predetermined amount of lead parts 410 has been discharged from the parts supply device 88, that is, when the conveyor device 106 has operated for a certain amount of time, the conveyor device 106 stops. Next, the parts support member 150 moves forward from its stored position due to the operation of the parts support member moving device 152.

[0042] Then, at the moment when the component support member 150 moves forward by a predetermined amount from the stored state to the exposed state, the container oscillating device 181 of the component return device 92 is activated, and the component storage container 180 oscillates. As a result, the orientation of the component storage container 180 changes rapidly from an orientation with the opening facing upward (storage orientation) to an orientation with the opening facing the stage 156 (return orientation). At this time, the lead components 410 stored in the component storage container 180 are rapidly ejected toward the stage 156. As a result, the lead components 410 are scattered from the component storage container 180 onto the stage 156. Note that the scattering of lead components 410 is a concept that includes both an orientation in which the lead components 410 are scattered in an overlapping state and an orientation in which the lead components 410 are scattered in a separate, individual state without overlapping.

[0043] Following the procedure described above, when lead components 410 are scattered on the stage 156 of the component support member 150 from the component supply device 88, the camera 290 of the 2D imaging device 84 moves above the component support member 150 by the operation of the camera moving device 292 and images the lead components 410. This obtains 2D imaging data for each of the multiple lead components 410 scattered on the upper surface of the component support member 150. Based on the 2D imaging data, information such as the position on the component support member 150 and the orientation of the lead components 410 is calculated for the multiple lead components 410 scattered on the upper surface of the component support member 150. At this time, components that can be held by the suction nozzle 332 (hereinafter referred to as "holdable components") are identified by pattern matching, and information such as the position and orientation of the holdable components on the component support member 150 is calculated. Since pattern matching is an existing technology, a detailed explanation of pattern matching is omitted.

[0044] Then, based on the calculated information regarding the position of the lead component 410, the component holding head 302 moves above the lead component by the operation of the component holding head moving device 300, and the lead component is held by the suction nozzle 332. Note that when the lead component is held by the suction nozzle 332, the suction nozzle 332 is in a non-swivel position.

[0045] Next, after the lead component 410 is held by the suction nozzle 332, the component holding head 302 moves above the component carrier 388. At this time, the component carrier 388 is moved to the component receiving position by the operation of the component carrier moving device 390. Also, as the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is rotated to the pivot position. The suction nozzle 332 is rotated by the operation of the nozzle rotating device 335 so that the lead 414 of the lead component 410 held by the suction nozzle 332 in the pivot position faces downward in the vertical direction.

[0046] As the part holding head 302 moves above the part carrier 388, the leaded part 410, with its lead 414 facing downward in the vertical direction, is inserted into the part receiving recess 416 of the part receiving member 392. As a result, the leaded part 410 is placed on the part receiving member 392 with its lead 414 facing downward in the vertical direction, as shown in Figure 11.

[0047] Then, when the leaded component 410 is placed on the component receiving member 392, the component carrier 388 moves to the component supply position by the operation of the component carrier moving device 390. Since the component carrier 388, which has moved to the component supply position, is within the movement range of the work heads 60 and 62, the loose component supply system 32 supplies the leaded component 410 to the component mounting machine 10 at this position. In this way, in the loose component supply system 32, the leaded component 410 is supplied to the component receiving member 392 with the leaded component 414 facing downwards and the upper surface facing upwards, opposite the bottom surface to which the leaded component 414 is connected. Therefore, the suction nozzles 66 of the work heads 60 and 62 can properly hold the leaded component 410.

[0048] Furthermore, in the loose parts supply system 32, when holdable parts are scattered on the stage 156 of the parts support member 150, the scattered holdable parts are repeatedly held, and the held holdable parts are placed on the parts receiving member 392. Then, the parts carrier 388 on which the parts receiving member 392 is attached moves to the parts supply position, and the lead parts 410 are supplied. However, if there are no holdable parts scattered on the stage 156 of the parts support member 150, the lead parts 410 cannot be held from the stage 156. In other words, if all the lead parts 410 that the suction nozzle 332 determines can be held are held, and lead parts 410 that the suction nozzle 332 determines cannot be held, or lead parts 410 that are determined to be unidentifiable remain on the stage 156, the lead parts 410 cannot be held from the stage 156.

[0049] Therefore, in the loose parts supply system 32, a parts return operation is performed in such cases. That is, the lead parts 410 remaining on the stage 156 are collected into the parts container 180. Then, the lead parts 410 collected in the parts container 180 are scattered again on the stage 156, and the orientation of the lead parts 410 is changed, thereby resuming the retention of the lead parts 410 from the stage 156.

[0050] Specifically, once all the holdable parts on the stage 156 are held, the part support member 150 moves downward toward the part supply device 88 by the operation of the part support member moving device 152. In other words, the part support member 150 moves from an exposed state (see Figure 5) to a stored state (see Figure 6). At this time, the part storage container 180 disposed at the front end of the part support member 150 is in a position with its opening facing upward (recovery position). As the part support member 150 moves from the exposed state to the stored state, the lead parts 410 on the stage 156 of the part support member 150 are blocked by the front end of the inclined plate 128 of the part supply device 88.

[0051] Furthermore, when the component support member 150 moves to the stored state as shown in Figure 6, the lead components 410 on the stage 156 are scraped into the inside of the component storage container 180. As a result, the lead components 410 on the stage 156 are collected into the component storage container 180. Once the lead components 410 on the stage 156 are collected into the component storage container 180, the collected lead components 410 are scattered on the stage 156.

[0052] More specifically, when the retrieval of lead parts 410 into the parts storage container 180 is complete, the parts support member 150 is in a stored state, as shown in Figure 6. Therefore, the parts support member 150 moves forward from its stored state due to the operation of the parts support member moving device 152. Then, at the moment when the parts support member 150 has moved forward by a predetermined amount from its stored state, the container rocking device 181 of the parts return device 92 is activated, causing the parts storage container 180 to rock. As a result, the posture of the parts storage container 180 changes rapidly from a posture with the opening facing upward (storage posture) to a posture with the opening facing the stage 156 (return posture).

[0053] At this time, the lead components 410 stored in the component container 180 are forcefully ejected toward the stage 156. As a result, the lead components 410 are scattered from the component container 180 onto the stage 156. In other words, the lead components 410 that were collected in the component container 180 are replenished to the stage 156. In this way, the return operation changes the orientation of the lead components 410 on the stage, and the lead components 410 are held again from above the stage 156.

[0054] Furthermore, as the aforementioned return operation is repeatedly performed and lead components are held on the stage 156, the number of lead components scattered on the stage 156 decreases due to the return operation. As the number of lead components scattered on the stage 156 decreases in this way, the number of components that can be held on the stage 156 by the suction nozzle 332 also decreases, so a supply operation is performed to supply lead components from the component supply device 88.

[0055] Specifically, when lead components are scattered on the stage 156 by a return operation, the camera 290 of the 2D imaging device 84 images the lead components scattered on the stage 156 of the component support member 150 in order to calculate the position, orientation, etc. of the holdable components. Based on this 2D imaging data, the position, orientation, etc. of the holdable components on the stage are calculated, and at the same time, the occupancy rate of the components on the stage is also calculated. The occupancy rate of the components is the ratio of the area occupied by the components to the area of ​​the upper surface of the stage 156, and the area of ​​the upper surface of the stage 156 is stored in the individual control device 452. On the other hand, the individual control device 452 calculates the area of ​​the components scattered on the stage 156 based on the 2D imaging data captured by the camera. The individual control device 452 then calculates the occupancy rate of the components.

[0056] In this case, if the occupancy rate of the calculated parts exceeds 15%, it is determined that there are a sufficient number of leaded parts scattered on the stage 156, and the parts on the stage 156 are retained. On the other hand, if the occupancy rate of the calculated parts is 15% or less, it is determined that there are a small number of leaded parts scattered on the stage 156, and leaded parts are supplied to the stage from the parts supply device 88.

[0057] More specifically, in the supply operation, similar to the return operation, the lead parts 410 on the stage 156 are collected into the parts storage container 180. That is, the parts support member 150 moves downward towards the storage state of the parts supply device 88 by the operation of the parts support member moving device 152, so that the lead parts 410 on the stage 156 are blocked by the inclined plate 128 of the parts supply device 88 and collected into the parts storage container 180. Next, in the parts supply device 88, the conveyor device 106 is activated, and the lead parts 410 stored in the parts supply device 88 are transported by the conveyor belt 112 and discharged from the parts supply device 88. As a result, the lead parts 410 discharged from the parts supply device 88 are stored in the parts storage container 180. In other words, the parts storage container 180 contains the parts collected from the stage 156 and the parts newly supplied from the parts supply device 88. Then, when a predetermined amount of lead parts 410 are discharged from the parts supply device 88, the conveyor device 106 stops and the parts support member 150 moves forward from its stored position. At the moment when the parts support member 150 has moved forward by a predetermined amount from its stored position to an exposed position, the container oscillating device 181 of the parts return device 92 activates, and the parts storage container 180 oscillates. At this time, the lead parts 410 stored in the parts storage container 180 are forcefully released toward the stage 156. As a result, the lead parts 410 are scattered from the parts storage container 180 onto the stage 156. In other words, during the supply operation, the parts recovered from the stage 156 and the parts newly supplied from the parts supply device 88 are scattered across the stage 156. In this way, the parts newly supplied from the parts supply device 88 are scattered across the stage 156, allowing the loose parts supply device 82 to continuously supply parts.

[0058] Furthermore, the loose parts supply system 32 also includes a loose parts supply device 500 equipped with two parts supply devices 88, as shown in Figure 13. This loose parts supply device 500 can be mounted in the slot 140 of the main unit 80 instead of the loose parts supply device 82.

[0059] More specifically, the loose parts supply device 500 includes a frame 504, a parts support device 506, and a parts return device 508, similar to the loose parts supply device 82. The loose parts supply device 500 is almost identical to the loose parts supply device, except that it is wider and has two parts supply devices 88; therefore, a simplified explanation will be provided.

[0060] The width dimension of frame 504 is twice that of frame 89 of the loose parts supply device 82, and like frame 89, it is composed of a pair of side frames 520 and a connecting frame 522. The pair of side frames 520 have approximately the same shape as the pair of side frames 130 of the loose parts supply device 82, and the width dimension of the connecting frame 522 is twice that of the connecting frame 132 of the loose parts supply device 82. With this structure, two parts supply devices 88 are detachably mounted side by side in the width direction between the pair of side frames 520. Frame 504, which has twice the width dimension of frame 89 of the loose parts supply device 82, is mounted in two adjacent slots 140 of the five slots 140 formed in the main body 80 of the loose parts supply system 32.

[0061] Furthermore, the parts support device 506, like the parts support device 90 of the loose parts supply device 82, has a parts support member 530 and a parts support member moving device 532. The parts support member 530 is composed of a stage 536 and a pair of side wall portions 538. The width dimension of the stage 536 is twice that of the stage 156 of the loose parts supply device 82, and a pair of side wall portions 538 are erected on both edges of the stage 536 in the width direction. The parts support member 530 slides in the front-rear direction by the operation of the parts support member moving device 532.

[0062] Furthermore, the parts return device 508, like the parts return device 92 of the loose parts supply device 82, also has a parts storage container 540 and a container rocking device 542. The width dimension of the parts storage container 540 is twice that of the parts storage container 180 of the loose parts supply device 82, and it is pivotably mounted at the front end of the stage 536. The parts storage container 540 then rocks between a position with its opening facing upward (storage position) and a position with its opening facing the stage 536 (return position) by the operation of the container rocking device 542.

[0063] A loose parts supply device 500 with such a structure, mounted on the loose parts supply system 32, can supply two types of parts. For example, if one of the two parts supply devices 88a contains part A and the other part supply device 88b contains part B, then part A is discharged from part supply device 88a and part B is discharged from part supply device 88b, resulting in parts A and B being scattered on the stage 536. Subsequently, the parts scattered on the stage 536 are imaged by the two-dimensional imaging device 84, and based on the image data, the retainable parts among the scattered parts A and B are identified. Then, the retainable parts among the scattered parts A and B on the stage 536 are held by the suction nozzle 332. In other words, the loose parts supply device 500 supplies parts A and B. Furthermore, when the suction nozzle 332 holds the parts that can be held from above the stage 536 and there are no more parts that can be held on the stage 536, a return operation for the scattered parts is performed, similar to the loose parts supply device 82. Also, when the number of parts scattered on the stage 536 decreases, parts are supplied from the parts supply device 88. However, in the loose parts supply device 500, parts A are supplied from parts supply device 88a and parts B are supplied from parts supply device 88b, so it is determined whether there are enough parts of the two types of parts, parts A and parts B, scattered on the stage. If it is determined that there are enough parts of all types, no parts are supplied from the parts supply device 88. If it is determined that there are enough parts of any type, the parts of the type that is not being supplied are supplied from the parts supply device 88. The types of parts that are determined to be sufficient are those that can be held without idle time or waiting time for the suction nozzle 332 that performs the part holding operation, or those that do not cause delays in the assembly or mounting work plan.

[0064] Specifically, in the initial state where no parts are scattered on the stage 536 and no parts are stored in the parts storage container 540, a supply operation for parts A and B is performed to scatter parts A and B onto the stage 536. In other words, during the parts supply operation, the conveyor device 106 of the parts supply device 88a operates to discharge parts A from the parts supply device 88a, and the conveyor device 106 of the parts supply device 88b operates to discharge parts B from the parts supply device 88b, thereby scattering parts A and B onto the stage 536. In this process, the parts supply operation is repeated until the parts occupancy rate exceeds 15%. More specifically, once the supply operation for parts A and B is completed and the parts are scattered on the stage 536, the parts scattered on the stage 536 are imaged by the two-dimensional imaging device 84. The individual control device 452 then calculates the parts occupancy rate based on the image data from the two-dimensional imaging device 84. In this case, if the calculated component occupancy rate is 15% or less, the supply operation for component A and component B will be performed again. The supply operation for component A and component B will then be repeated until the component occupancy rate exceeds 15%.

[0065] Then, when the occupancy rate of the parts exceeds 15%, the part holding head performs the part holding operation with the suction nozzle. Specifically, based on the imaging data captured by the 2D imaging device 84 to calculate the occupancy rate of the parts, the individual control device 452 identifies the parts that can be held for parts A and B. At this time, the imaging when the occupancy rate of the parts exceeds 15% in the imaging data captured by the 2D imaging device 84 is treated as the first imaging. For example, suppose the occupancy rate of the parts during the first imaging was 50%. Then, based on the imaging data from the first imaging, the individual control device 452 identifies the parts that can be held for parts A and B, and stores the number of identified parts that can be held for each type of part, along with the number of times the scattered parts were imaged. For example, as shown in Figure 14, when the scattered parts are imaged for the first time, it is identified that there are 2 parts that can be held for part A and 3 parts that can be held for part B. Then, as shown in Figure 15, the individual control device 452 stores these identified numbers. Note that in Figure 14, only the parts of parts A and B that can be held are shown, and parts other than the parts of parts A and B that can be held, i.e., parts that cannot be held by the suction nozzle 332, are not shown. Also, although parts A and B are leaded parts, in order to simplify the figure, the leads of the leaded parts are not shown, and the leaded parts are shown in a simplified form.

[0066] The individual control device 452 then identifies the number of parts that can be held for each part type and calculates the average number of parts that can be held for each part type based on the number of parts that can be held for each part type identified (hereinafter referred to as the number of parts that can be held). The average number of parts that can be held is the average of the number of parts that can be held identified based on the imaging data of the scattered parts captured in the last five imaging sessions. Therefore, during the first imaging session, the number of parts that can be held for each part type identified during the first imaging session becomes the average number of parts that can be held during the first imaging session. Thus, the average number of parts that can be held for part A during the first imaging session is 2.0, and the average number of parts that can be held for part B is 3.0. The occupancy rate of parts during the first imaging session is 50%, which is more than 15%, so it is determined that parts A and B are sufficient, and the parts that can be held on the stage are held by the suction nozzle 332 without the part supply operation being executed.

[0067] Then, when the retainable parts identified during the first imaging are held by the suction nozzle 332, a return operation is performed. That is, the parts remaining on the stage 536 are collected into the parts storage container 540, and the collected parts are scattered again on the stage 536. Next, the 2D imaging device 84 performs a second imaging of the parts scattered again on the stage 536. Then, the individual control device 452 calculates the occupancy rate of the parts based on the second imaging data and identifies the retainable parts for each type of part. In this case, for example, since the occupancy rate of the parts during the second imaging was 50%, as shown in Figure 14, it is identified that there are 3 retainable parts for part A and 2 retainable parts for part B. Then, as shown in Figure 15, the individual control device 452 stores these identified numbers. Furthermore, the individual control device 452 calculates the average number of retainable parts for each type of part during the second imaging. Specifically, the average number of holdable parts for each part type identified during the first and second imaging is used as the average number of holdable parts for each part type during the second imaging. Therefore, the average number of holdable parts for part A during the second imaging is 2.5 (=(2+3) / 2), and the average number of holdable parts for part B is 2.5 (=(3+2) / 2). Since the part occupancy rate during the second imaging is 50%, which is more than 15%, and it is determined that parts A and B are sufficient, the part supply operation is not performed, and the holdable parts on the stage are held by the suction nozzle 332.

[0068] Then, once all the retainable parts identified during the second imaging are held by the suction nozzle 332, the parts remaining on the stage 536 are collected into the parts storage container 540, and the return operation of the parts scattered again on the stage 536 is performed. Next, the 2D imaging device 84 performs a third imaging of the parts scattered again on the stage 536. Then, the individual control device 452 calculates the occupancy rate of the parts based on the third imaging data and identifies the retainable parts for each type of part. In this case, for example, since the occupancy rate of the parts during the third imaging was 10%, as shown in Figure 14, the retainable parts of part A are not identified, and the retainable parts of part B are identified as 1. Then, as shown in Figure 15, the individual control device 452 stores the identified numbers. Furthermore, the individual control device 452 calculates the average number of retainable parts for each type of part during the third imaging. Specifically, the average number of retainable parts for each part type identified during the first to third imaging is used as the average number of retainable parts for each part type during the third imaging. Therefore, the average number of retainable parts for part A during the third imaging is 1.7 (=(2+3) / 3), and the average number of retainable parts for part B is 2.0 (=(3+2+1) / 3). Since the part occupancy rate during the third imaging is 10%, which is less than 15%, it is determined that there are insufficient parts and the part supply operation is executed. In this case, if the average number of retainable parts for parts A and B is 1 or less, it is determined that there are insufficient parts for parts A and B. Also, if the average number of retainable parts for parts A and B is the same, and there are no retainable parts for parts A and B, it is determined that there are insufficient parts for parts A and B. In all other cases, the part with the lower average number of retainable parts for parts A and B is determined to be insufficient. In this case, the average number of parts that can be held by part A during the third imaging is 1.7, and the average number of parts that can be held by part B is 2.0. Therefore, based on the imaging data from the third imaging, it is determined that part A is not sufficient, and the supply operation for part A is executed.

[0069] When the supply operation for part A is performed and the parts are scattered on the stage 536, the 2D imaging device 84 performs a fourth imaging of the parts scattered on the stage 536. The individual control device 452 then calculates the occupancy rate of the parts and identifies the number of retainable parts for each type of part based on the data from this fourth imaging. For example, if the occupancy rate of the parts at the time of the fourth imaging is 15%, and as shown in Figure 14, it is determined that there are 2 retainable parts for part A, but the number of retainable parts for part B is not determined, the individual control device 452 stores the number of those determined, as shown in Figure 15. The individual control device 452 also calculates the average number of retainable parts for each type of part at the time of the fourth imaging. Specifically, the average number of retainable parts for each type of part identified at the time of the first to fourth imaging is used as the average number of retainable parts for each type of part at the time of the fourth imaging. Therefore, at the fourth imaging, the average number of parts that can be held by part A is 1.8 (=(2+3+2) / 4), and the average number of parts that can be held by part B is 1.5 (=(3+2+1) / 4). Since the part occupancy rate at the fourth imaging is 15% and less than or equal to 15%, the part supply operation is performed. Here, at the fourth imaging, the average number of parts that can be held by part A is 1.8, and the average number of parts that can be held by part B is 1.5. Therefore, based on the imaging data at the fourth imaging, it is determined that part B is not sufficiently stocked, and the part supply operation for part B is performed.

[0070] When the supply operation for part B is performed and the parts are scattered on the stage 536, the 2D imaging device 84 performs a fifth imaging of the parts scattered on the stage 536. The individual control device 452 then calculates the occupancy rate of the parts and identifies the number of retainable parts for each type of part based on the data from this fifth imaging. For example, if the occupancy rate of the parts at the time of the fifth imaging is 35%, and as shown in Figure 14, it is determined that there is 1 retainable part for part A and 3 retainable parts for part B, the individual control device 452 stores these identified numbers as shown in Figure 15. The individual control device 452 also calculates the average number of retainable parts for each type of part at the time of the fifth imaging. Specifically, the average number of retainable parts for each type of part identified during the first to fifth imaging is used as the average number of retainable parts for each type of part at the time of the fifth imaging. Therefore, at the fifth imaging, the average number of parts that can be held by part A is 1.6 (=(2+3+2+1) / 5), and the average number of parts that can be held by part B is 1.8 (=(3+2+1+3) / 5). At the fifth imaging, the part occupancy rate is 35%, which is more than 15%, so it is determined that parts A and B are sufficient, and the part supply operation is not performed, and the parts that can be held on the stage are held by the suction nozzle 332.

[0071] Then, once all the retainable parts identified during the fifth imaging are held by the suction nozzle 332, the parts remaining on the stage 536 are collected into the parts storage container 540, and the return operation of the parts scattered again on the stage 536 is performed. Next, the 2D imaging device 84 performs a sixth imaging of the parts scattered again on the stage 536. The individual control device 452 then calculates the occupancy rate of the parts based on the fifth imaging data and identifies the retainable parts for each type of part. In this case, for example, since the occupancy rate of the parts during the sixth imaging was 5%, as shown in Figure 14, the retainable parts for part A and the retainable parts for part B are not identified. The individual control device 452 then stores this information as shown in Figure 15. Furthermore, the individual control device 452 calculates the average number of retainable parts for each type of part during the sixth imaging. Specifically, the average number of retainable parts for each type of part identified during the second to sixth imaging is used as the average number of retainable parts for each type of part during the sixth imaging. Therefore, the average number of parts that can be held in part A at the 6th imaging is 1.2 (=(3+2+1) / 5), and the average number of parts that can be held in part B is 1.2 (=(2+1+3) / 5). The part occupancy rate at the 6th imaging is 5%, which is less than 15%, so it is determined that there are not enough parts and the part supply operation is executed. Here, the average number of parts that can be held in part A at the 6th imaging is 1.2, and the average number of parts that can be held in part B is also 1.2. In other words, the average number of parts that can be held in part A and the average number of parts that can be held in part B are the same. At the 6th imaging, there are no parts that can be held in part A, and no parts that can be held in part B. For this reason, based on the imaging data at the 6th imaging, it is determined that there are not enough parts in part A and part B, and the part supply operation for part A and part B is executed.

[0072] Once the supply operations for parts A and B are performed and the parts are scattered on the stage 536, the 2D imaging device 84 performs a 7th imaging of the parts scattered on the stage 536. The individual control device 452 then calculates the occupancy rate of the parts and identifies the number of retainable parts for each type of part based on the data from this 7th imaging. For example, if the occupancy rate of the parts at the time of the 7th imaging is 15%, and as shown in Figure 14, it is determined that there is 1 retainable part for part A and 1 retainable part for part B, the individual control device 452 stores these identified numbers as shown in Figure 15. The individual control device 452 also calculates the average number of retainable parts for each type of part at the time of the 7th imaging. Specifically, the average number of retainable parts for each type of part identified during the 3rd to 7th imaging is used as the average number of retainable parts for each type of part at the time of the 7th imaging. Therefore, at the 7th imaging, the average number of parts that can be held by part A is 0.8 (=(2+1+1) / 5), and the average number of parts that can be held by part B is 1.0 (=(1+3+1) / 5). The part occupancy rate at the 7th imaging is 15%, and since it is less than 15%, it is determined that the parts are insufficient and the part supply operation is executed. Here, at the 7th imaging, the average number of parts that can be held by part A is 0.8, and the average number of parts that can be held by part B is also 1.0. In other words, the average number of parts that can be held by both part A and part B is 1 or less. Therefore, based on the imaging data at the 7th imaging, it is determined that parts A and B are insufficient and the supply operation for parts A and B is executed.

[0073] In this way, each time a component is scattered on the stage, the components scattered on the stage are imaged by the 2D imaging device 84, and based on the acquired imaging data, it is possible to determine whether the stage is full of components, thereby supplying components to the stage more efficiently. Furthermore, based on the imaging data acquired by the 2D imaging device 84, it is first determined whether the area occupied by the scattered components relative to the stage area is 15% or less. If it is determined that the component occupancy rate is 15% or less, then, based on the average number of components that can be held acquired for each type of component scattered on the stage, it is determined whether the stage is full of components of each type, and only components of the types that are not full can be supplied to the stage. This allows for an even more efficient supply of components to the stage.

[0074] The above-mentioned parts supply and return operations will be briefly explained again using the flowcharts shown in Figures 16 and 17. First, in the initial state where no parts are scattered on the stage 536 and no parts are stored in the parts storage container 540, a parts supply operation is performed to scatter parts A and B on the stage 536 (S10). Then, the parts scattered on the stage are imaged by the 2D imaging device 84 (S12), and based on the image data captured by the 2D imaging device 84, it is determined whether the area occupied by the scattered parts relative to the area on the stage is 15% or less (S16). In this case, if the parts occupancy rate is 15% or less (S16: YES), the parts supply operation for parts A and B and the imaging of the stage after the parts have been supplied are repeated. On the other hand, if the parts occupancy rate exceeds 15% (S16: NO), it is determined whether there are any parts that can be held on the stage (S18). In this case, if there are parts that can be held on the stage (S18:YES), the parts that can be held are held by the suction nozzle 332 (S20). Then, when the suction nozzle has held all the parts that can be held on the stage, a return operation is performed (S22). On the other hand, if there are no parts that can be held by the suction nozzle on the stage (S18:NO), the suction nozzle does not hold any parts, and a return operation is performed in which the parts scattered on the stage are collected and scattered again (S22). Then, the parts scattered on the stage after the return operation is performed are imaged by the 2D imaging device 84 (S24).

[0075] Next, based on the imaging data captured by the 2D imaging device 84, it is determined whether the occupancy rate of the parts is 15% or less (S26). If the occupancy rate of the parts exceeds 15% (S26: NO), the suction nozzle performs the task of holding the parts that can be held (S18, S19), and the processing from S22 onwards is executed. On the other hand, if the occupancy rate of the parts is 15% or less (S26: YES), it is determined whether the average number of parts that can be held for each of parts A and B is 1 or less (S28). If the average number of parts that can be held for each of parts A and B is 1 or less (S28: YES), the supply operation of parts A and B is executed (S30). On the other hand, if the average number of parts that can be held for each of parts A and B is not 1 or less (S28: NO), it is determined whether the average number of parts that can be held for part A and the average number of parts that can be held for part B are the same, and whether there are no parts that can be held for parts A and B (S32). In this case, if the average number of parts that can be held by part A and the average number of parts that can be held by part B are the same, and there are no parts that can be held by either part A or part B (S32: YES), then the supply operation for part A and part B is performed (S30). On the other hand, if the average number of parts that can be held by part A and the average number of parts that can be held by part B are different, or if there are parts that can be held by at least one of part A or part B (S32: NO), then the supply operation for the part with the lower average number of parts that can be held by either part A or part B is performed (S34).

[0076] Note that the 2D imaging device 84 is an example of an imaging device. The parts supply device 88 is an example of a supply device. The individual control device 452 is an example of a decision device. The loose parts supply device 500 is an example of a parts supply device. The parts return device 508 is an example of a scattered parts device. The stage 536 is an example of a stage.

[0077] Furthermore, the present invention is not limited to the above embodiments, and can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiments, whether or not the parts are sufficient for each type of part is determined based on the average number of parts that can be held for each type of part, but it may also be determined based on the number of parts that can be held for each type of part. In other words, it may be determined based on at least one of the number of parts that can be held for each type of part and the average number of parts that can be held for each type of part. Alternatively, it may be determined based on the quantity, ratio, etc., of parts that can be held for each type of part.

[0078] Furthermore, in the above embodiment, a parts supply device 88 is provided for each type of part, and the same type of part is supplied from each of the multiple parts supply devices 88. On the other hand, multiple types of parts may be housed in a single parts supply device 88, and multiple types of parts may be supplied to the stage from that single parts supply device 88.

[0079] Furthermore, in the above embodiment, the parts return device 508 scatters the parts on the stage, but the parts supply device 88 may also scatter the parts on the stage. In other words, in the above embodiment, the parts supply device 88 supplies parts to the parts storage container 540 of the parts return device 508, and the parts storage container 540 containing those parts scatters the parts on the stage. On the other hand, the parts supply device 88 may directly scatter the parts on the stage. That is, for example, the parts supply device 88 may directly scatter the parts on the stage by discharging parts while moving the stage from a stored state to an exposed state. In such a case, the parts supply device 88 functions as a scattering device.

[0080] Furthermore, in the above embodiment, a stage 536 is used as the component on which the parts are scattered, but various components can be used as long as they have a shape that allows for the scattering of parts. Specifically, for example, trays, carriers, etc. can be used as stages, and the top surface of a conveyor belt can also be used as a stage.

[0081] Furthermore, in the above embodiment, two parts supply devices 88 are provided for one loose parts supply device 500, but three or more parts supply devices 88 may be provided for one loose parts supply device. If each of these three or more parts supply devices 88 contains different types of parts, then three or more types of parts can be supplied from one loose parts supply device 500. Also, in a loose parts supply device 500 that can supply three or more types of parts, if the occupancy rate of parts scattered on the stage is 15% or less, the device may supply only the type of part with the lowest average number of retainable parts among the three or more types of parts, or it may supply only the type of part for which the average number of retainable parts calculated for each of the three or more types of parts is less than a predetermined threshold.

[0082] Furthermore, although the present invention is applied to the leaded components 410, component A, and component B in the above embodiment, the present invention may be applied to various types of components. Specifically, for example, the present invention can be applied to components of solar cells, components of power modules, electronic circuit components without leads, chip-type miniature electronic components, and the like. [Explanation of Symbols]

[0083] 84: 2D imaging device (imaging device) 88: Parts supply device (supply machine) 452: Individual control device (decision device) 500: Loose parts supply device (parts supply device) 508: Parts return device (scattered device) 536: Stage

Claims

1. A stage where multiple types of parts are scattered, A scattering device for scattering parts on the aforementioned stage, The scattering device includes an imaging device that images the parts scattered on the stage each time the scattering device scatters parts on the stage, A determination device that determines whether all types of parts among the multiple types of parts scattered on the stage are satisfied based on the imaging data obtained by the imaging device from the parts scattered on the stage. Equipped with, The determination device is, A parts supply device that calculates, based on imaging data obtained by the imaging device from parts scattered on the stage, the occupancy rate of parts scattered on the stage relative to the area of ​​the stage and the average value of parts that can be held for all types of parts among multiple types of parts scattered on the stage, and determines whether or not all types of parts among multiple types of parts scattered on the stage are satisfied based on the occupancy rate and the average value.

2. The parts supply device according to claim 1, further comprising a supply machine that supplies parts of a type that the determination device has determined to be insufficient to the stage.

3. The parts supply device according to claim 2, wherein the supply device refrains from supplying parts to the stage if the determination device determines that all types of parts among the multiple types of parts scattered on the stage are satisfied.

Images