Work machine

Abstract

This work machine comprises: a work head having a pair of holding members for holding a pair of bent leads of an axial lead component, and a changing device for changing the distance between the pair of holding members; and an imaging device for imaging the pair of holding members in a state in which a pair of leads are not being held.

Description

Working machine

[0001] The present invention relates to a working machine including a working head that holds and retains a pair of bent leads of an axial lead component by a pair of holding members.

[0002] The following patent document discloses a working machine including a working head that holds and retains a pair of bent leads of an axial lead component by a pair of holding members.

[0003] Japanese Unexamined Patent Application Publication No. 2020-064906

[0004] An object of the present invention is to appropriately hold a pair of bent leads of an axial lead component by a pair of holding members.

[0005] In order to solve the above problems, this specification discloses a working machine including a working head having a pair of holding members that hold a pair of bent leads of an axial lead component, and a changing device that changes the distance between the pair of holding members, and an imaging device that images the pair of holding members in a state where the pair of leads are not being held.

[0006] According to the present disclosure, for example, based on imaging data, the state of the pair of holding members can be recognized, and a pair of bent leads of an axial lead component can be appropriately held by the pair of holding members.

[0007] This is a perspective view of a component mounting machine. This is a perspective view of a component mounting device. This is a perspective view of a work head. This is a block diagram of a control device. This is a schematic diagram of the work head before it holds an axial lead component. This is a schematic diagram of the work head holding an axial lead component. This is a schematic diagram of a pair of leads held by a pair of gripping claws being inserted into a pair of through holes. This is a schematic diagram of a work head that is unable to hold an axial lead component. This is a schematic diagram of a work head that is unable to hold an axial lead component. This is a schematic diagram of gripping claws that are unable to grip an axial lead component. This is a schematic diagram of gripping claws that are unable to grip an axial lead component. This is a schematic diagram of a work head before it holds an axial lead component. This is a schematic diagram of a work head before it holds an axial lead component. This is a schematic diagram of a state where a pair of leads held by a pair of gripping claws cannot be inserted into a pair of through holes. This is a schematic diagram of a state where a pair of leads held by a pair of gripping claws cannot be inserted into a pair of through holes. This is a schematic diagram showing a state where a pair of leads held between a pair of gripping claws cannot be inserted into a pair of through holes. This is a schematic diagram of the work head before it holds the axial lead components.

[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 supply device 24, a loose component supply device 26, a component mounting device 28, a mark camera 30, a parts camera 32, and a control device (see Figure 4) 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 is composed of a frame 40 and a beam 42 suspended 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 holds the circuit substrate 12 fixedly in a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction.

[0011] The parts supply device 24 is located at one end of the frame 40 in the front-rear direction. The parts supply device 24 includes a tray-type parts supply device 60 and a feeder-type parts supply device 62. The tray-type parts supply device 60 is a device that supplies parts in a state where they are placed on a tray. The feeder-type parts supply device 62 is a device that supplies parts by tape feeder 64, which supplies axial lead parts (see Figure 5) 65. Specifically, in the tape feeder 64, the tape-formed parts, in which the axial lead parts 65 are formed into tape, are sent toward the supply position. At the supply position, a pair of leads (see Figure 5) 66 taped to the tape-formed parts are supported by a pair of support members (see Figure 5) 68. The pair of leads 66 taped to the tape-formed parts are linear in shape. Subsequently, the pair of leads 66 supported by the pair of support members 68 are cut, thereby separating the axial lead parts 65 from the tape-formed parts. Then, the pair of leads 66 are bent downwards. As a result, the tape feeder 64 supplies the axial lead components 65 with the pair of leads 66 supported by the pair of support members 68, as shown in Figure 5.

[0012] As shown in Figure 1, the loose parts supply device 26 is located at the other end of the frame 40 in the front-rear direction. The loose parts supply device 26 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.

[0013] The component mounting device 28 is mounted on the beam 42 and has two work heads 70 and 72 and a work head moving device 76. The work head moving device 76 is composed of an X-direction moving device 78, a Y-direction moving device 80, and a Z-direction moving device 82. The X-direction moving device 78 and the Y-direction moving device 80 each have electromagnetic motors (see Figure 4) 84 and 86, respectively, and the operation of each electromagnetic motor 84 and 86 moves the two work heads 70 and 72 integrally to any position on the frame 40. The Z-direction moving device 82 also has electromagnetic motors (see Figure 23) 88 and 90, and the operation of each electromagnetic motor 88 and 90 moves sliders 92 and 94 individually in the vertical direction. The work heads 70 and 72 are detachably mounted on these sliders 92 and 94. As a result, the work heads 70 and 72 move individually in the vertical direction by the Z-direction moving device 82.

[0014] Furthermore, the work heads 70 and 72 are used to mount components onto the circuit board 12. As shown in Figure 3, each work head 70 and 72 has a head body 100, a component mounting device 102, and a rotation device 104. The head body 100 is held rotatably inside the work heads 70 and 72 and rotates to any angle by the operation of the rotation device 104.

[0015] The component mounting device 102 has a pair of gripping claws 110 and a pusher 112. The pair of gripping claws 110 are disposed on the lower surface of the head body 100 so as to face each other in a vertically extended position, and are held by the head body 100 so as to be able to move closer together and further apart. The pair of gripping claws 110 can be controlled to move closer together and further apart by the operation of an electromagnetic motor (see Figure 4) 116. As a result, the distance between the pair of gripping claws 110 can be controlled to change by the operation of the electromagnetic motor 116. A pair of grooves 118 (only one is shown in Figure 3) are formed on the opposing surfaces of the pair of gripping claws 110 so as to extend vertically. The pusher 112 is disposed on the lower surface of the head body 100 in a vertically extended position between the pair of gripping claws 110, and is held by the head body 100 so as to be able to move up and down. The pusher 112 then moves up and down by the operation of the air cylinder (see Figure 4) 120.

[0016] As shown in Figure 2, the mark camera 30 is mounted on the slider 92 with its orientation downward on a vertical line, and moves in the X, Y, and Z directions together with the work head 70. This allows the mark camera 30 to capture images of any position on the frame 40. As shown in Figure 1, the parts camera 32 is positioned between the substrate transport and holding device 22 and the parts supply device 24 on the frame 40, with its orientation upward on a vertical line. This allows the parts camera 32 to capture images of the work heads 70 and 72 from below.

[0017] As shown in Figure 4, the control device 34 comprises a controller 140, a plurality of drive circuits 142, an image processing device 144, and a memory 146. The plurality of drive circuits 142 are connected to the bulk parts supply device 26, the transport device 50, the clamping device 52, the electromagnetic motors 84, 86, 88, 90, 116, the tray-type parts supply device 60, the feeder-type parts supply device 62, the rotation device 104, and the air cylinder 120. The controller 140 is a computer-based device equipped with a CPU, ROM, RAM, etc., and is connected to the plurality of drive circuits 142. As a result, the operation of the substrate transport and holding device 22, the parts mounting device 28, etc., is controlled by the controller 140. The controller 140 is also connected to the image processing device 144. The image processing device 144 processes image data obtained by the mark camera 30 and the parts camera 32, and the controller 140 acquires various information from this image data. Furthermore, the memory 146 is connected to the controller 140 and stores various information according to commands from the controller 140.

[0018] In the component mounting machine 10, the component mounting operation is performed on the circuit board 12 held by the substrate transport and holding device 22 using the configuration described above. The component mounting machine 10 can mount various components on the circuit board 12, but the case of mounting axial lead components 65 on the circuit board 12 will be described below.

[0019] Specifically, the circuit board 12 is transported to the work position by the transport device 50, and at that position, it is fixedly held by the clamp device 52. Next, the mark camera 30 moves above the circuit board 12 and images the circuit board 12. As a result, the controller 140 acquires information regarding the position of a pair of through holes (see Figure 7) 150 formed in the circuit board 12. At the same time, the tape feeder 64 supplies the axial lead component 65 at the supply position. Then, either the work head 70 or 72 moves above the component supply position, and the axial lead component 65 is gripped by a pair of gripping claws 110 of the component holder 102.

[0020] More specifically, as shown in Figure 5, the pair of leads 66 of the axial lead component 65 supplied by the tape feeder 64 are bent, and the axial lead component 65 is supplied while being supported by a pair of support members 68. In addition, in the work heads 70 and 72, before the holding operation of the axial lead component 65 is performed, the operation of the electromagnetic motor 116 is controlled so that the distance L1 between a pair of gripping claws 110 is approximately the same as the distance L2 between the bent pair of leads 66 (hereinafter referred to as the "lead distance"). The lead distance L2 is the distance between the upper ends of the bent portions of the pair of leads 66, or in other words, the distance between the base end and the opposite end of the unbent portion of the pair of leads 66. The distance L1 between the pair of gripping claws 110 is the distance between the inside of the grooves 118 of the pair of gripping claws 110. Then, as the work heads 70 and 72 descend to the supply position of the axial lead component 65, the bent portions of the pair of leads 66 of the axial lead component 65 are pressed into the grooves 118 of the pair of gripping claws 110, as shown in Figure 6. As a result, the axial lead component 65 is gripped by the pair of gripping claws 110. Note that in the axial lead component 65 gripped by the pair of gripping claws 110, the tips of the pair of leads 66 extend downward from the lower end of the pair of gripping claws 110.

[0021] In this way, when the axial lead component 65 is gripped by the pair of gripping claws 110, the work heads 70 and 72 move above the part camera 32, and the part camera 32 images the axial lead component 65 gripped by the pair of gripping claws 110. As a result, the controller 140 acquires information regarding the tip positions of the pair of leads 66. Subsequently, the work heads 70 and 72 move above the circuit board 12 and adjust the holding posture of the held component based on information regarding the position of the through holes 150 formed in the circuit board 12 and the tip positions of the leads 66 of the axial lead component 65 gripped by the gripping claws 110. At this time, the movement and holding posture of the work heads 70 and 72 are adjusted so that the position of the pair of through holes 150 formed in the circuit board 12 and the tip positions of the pair of leads 66 of the axial lead component 65 gripped by the gripping claws 110 coincide in the vertical direction.

[0022] Then, as the work heads 70 and 72 move so that the positions of the pair of through holes 150 and the tip positions of the pair of leads 66 coincide in the vertical direction, the work heads 70 and 72 descend. As a result, as shown in Figure 7, the tips of the pair of leads 66 of the axial lead component 65 are inserted into the pair of through holes 150 of the circuit board 12. Then, the pusher 112, which is positioned between the pair of gripping claws 110, descends due to the operation of the air cylinder 120, pushing the axial lead component 65 downwards. As a result, the pair of leads 66 of the axial lead component 65 are inserted into the pair of through holes 150 up to the base of the bent portion. Then, as the pair of gripping claws 110 separate, the axial lead component 65 is detached from the component holder 102. After the pair of gripping claws 110 separate, the work heads 70 and 72 rise. As a result, the axial lead component 65 is mounted on the circuit board 12 with the lead 66 inserted into the through hole 150.

[0023] Thus, in the component mounting machine 10, the mounting operation of the axial lead component 65 is performed by a pair of gripping claws 110 in the work heads 70 and 72 gripping a pair of leads 66 of the axial lead component 65. However, when the pair of gripping claws 110 grip the axial lead component 65, if the distance between the pair of gripping claws 110 is different from the distance between the leads, the pair of gripping claws 110 may not be able to grip the axial lead component 65. Specifically, as described above, before the holding operation of the axial lead component 65 is performed, the operation of the electromagnetic motor 116 is controlled so that the distance L1 between the pair of gripping claws 110 is approximately the same as the distance L2 between the leads. In this case, depending on individual differences in the gripping claws 110, the mounting accuracy of the gripping claws 110 to the head body 100, and the looseness when the gripping claws 110 are mounted to the head body 100, the distance L1 between a pair of gripping claws 110 may not be approximately the same as the distance L2 between the leads. For example, if the distance L1 between a pair of gripping claws 110 is shorter than the distance L2 between the leads, as shown in Figure 8, when the work heads 70 and 72 descend to hold the axial lead component 65 supported by a pair of support members 68, the lower ends of the pair of gripping claws 110 come into contact with the pair of leads 66, and the pair of gripping claws 110 cannot grip the axial lead component 65. Furthermore, for example, if the distance L1 between a pair of gripping claws 110 is longer than the distance L2 between leads, as shown in Figure 9, when the work heads 70 and 72 descend to hold the axial lead component 65 supported by a pair of support members 68, the pair of gripping claws 110 and the pair of leads 66 do not come into contact, and the pair of gripping claws 110 cannot grip the axial lead component 65.

[0024] Furthermore, due to individual differences in the gripping claws 110, the mounting accuracy of the gripping claws 110 to the head body 100, and the looseness when the gripping claws 110 are mounted to the head body 100, the direction in which a pair of gripping claws 110 are aligned may deviate from the direction in which they were designed. In such cases, even if the distance L1 between a pair of gripping claws 110 and the distance L2 between leads are approximately the same, the direction in which a pair of gripping claws 110 are aligned and the direction in which a pair of leads 66 are aligned may be misaligned, preventing the pair of gripping claws 110 from gripping the axial lead component 65. In other words, when viewing the axial lead component 65 and a pair of gripping claws 110 supplied by the tape feeder 64 from above, as shown in Figure 10, if the direction in which the pair of gripping claws 110 are aligned and the direction in which the pair of leads 66 are aligned are offset by an angle θ in the XY plane, the pair of gripping claws 110 cannot grip the axial lead component 65.

[0025] Furthermore, due to individual differences in the gripping claws 110, the mounting accuracy of the gripping claws 110 to the head body 100, and the looseness when the gripping claws 110 are mounted to the head body 100, the center of a pair of gripping claws 110 in the XY plane may be misaligned with the center designed for that pair. In such cases, even if the distance L1 between the pair of gripping claws 110 and the distance L2 between the leads are approximately the same, the centers of the pair of gripping claws 110 and the centers of the pair of leads 66 may be misaligned, preventing the pair of gripping claws 110 from gripping the axial lead component 65. In other words, when viewing the axial lead component 65 and a pair of gripping claws 110 supplied by the tape feeder 64 from above, as shown in Figure 11, if the center 160 of the pair of gripping claws 110 and the center 162 of the pair of leads 66 are misaligned in the XY plane, the pair of gripping claws 110 cannot grip the axial lead component 65.

[0026] In light of these considerations, before the holding operation is performed on the work heads 70 and 72, a pair of gripping claws 110 are imaged by the parts camera 32, and correction values ​​are calculated based on the image data to correct the distance between the pair of gripping claws 110, the rotation angle of the work heads 70 and 72, and the center coordinates of the pair of gripping claws 110. Specifically, before the holding operation is performed on the work heads 70 and 72, the operation of the electromagnetic motor 116 is first controlled so that the distance L1 between the pair of gripping claws 110 is approximately the same as the distance L2 between the leads. Also, for example, if the direction in which the pair of leads 66 of the axial lead component 65 supplied by the tape feeder 64 are aligned is the X direction, the operation of the rotation device 104 is controlled so that the direction in which the pair of gripping claws 110 are aligned coincides with the X direction before the holding operation is performed on the work heads 70 and 72. Subsequently, the operation of the work head moving device 76 is controlled so that the work heads 70 and 72 move above the parts camera 32. In this process, the operation of the work head moving device 76 is controlled so that the center coordinates of the pair of gripping claws 110 coincide with the target coordinates of a predetermined target. When the work heads 70 and 72 move above the part camera 32 in this manner, the part camera 32 captures an image of the pair of gripping claws 110.

[0027] The controller 140 then calculates the distance between a pair of gripping claws 110 based on the imaging data. The distance between a pair of gripping claws 110 calculated based on the imaging data is the actual distance between the pair of gripping claws 110 at the work heads 70 and 72, and is therefore referred to as the actual distance. Furthermore, the distance between a pair of gripping claws 110 when the operation of the electromagnetic motor 116 is controlled so that the distance between a pair of gripping claws 110 is approximately the same as the lead distance before imaging is the target distance between a pair of gripping claws 110, and is therefore referred to as the target distance. For this reason, the controller 140 calculates the difference between the actual distance and the target distance as a correction value for the distance between the pair of gripping claws 110 and stores it in the memory 146.

[0028] Furthermore, the controller 140 calculates the direction in which the pair of gripping claws 110 are aligned in the XY plane based on the imaging data. The direction in which the pair of gripping claws 110 are aligned based on the imaging data is the same direction in which the pair of gripping claws 110 are actually aligned in the work heads 70 and 72, so the direction in which the pair of gripping claws 110 are aligned based on the imaging data is referred to as the actual direction. In addition, since the operation of the rotation device 104 is controlled so that the direction in which the pair of gripping claws 110 are aligned coincides with the X direction before imaging, the controller 140 calculates the difference between the actual direction and the X direction as a correction value for the rotation angle and stores it in the memory 146.

[0029] Furthermore, the controller 140 calculates the XY coordinates of the center of the pair of gripping claws 110 based on the imaging data. The XY coordinates of the center of the pair of gripping claws 110 calculated based on the imaging data are the actual XY coordinates of the center of the pair of gripping claws 110 at the work heads 70 and 72, so the XY coordinates of the center of the pair of gripping claws 110 calculated based on the imaging data are referred to as the actual coordinates. In addition, as the work head moves above the part camera 32, the operation of the work head moving device 76 is controlled so that the center coordinates of the pair of gripping claws 110 coincide with the target coordinates. Therefore, the controller 140 calculates the difference between the actual coordinates and the target coordinates as a correction value for the center coordinates of the pair of gripping claws 110 and stores it in the memory 146.

[0030] In this way, the controller 140 calculates correction values ​​to correct the distance between the pair of gripping claws 110, the rotation angle of the work heads 70 and 72, and the center coordinates of the pair of gripping claws 110 based on the imaging data, and stores them in the memory 146. Then, before performing the holding operation of the axial lead component 65, the controller 140 controls the operation of the electromagnetic motor 116 so that the distance between the pair of gripping claws 110 becomes the distance between the leads, and uses the correction values ​​stored in the memory 146 to change the distance between the pair of gripping claws 110. Specifically, for example, if the distance between leads is 10 mm, the target distance is 10 mm, and the actual distance at the time of calculating the correction value is 8 mm, then the distance correction value is calculated as 2 (= 10 - 8) mm and stored in the memory 146. Therefore, the controller 140 sets the target distance to 12 mm, which is the lead-to-lead distance of 10 mm plus a correction value of 2 mm, and controls the operation of the electromagnetic motor 116 so that the distance between the pair of gripping claws 110 becomes the target distance of 12 mm. By controlling the operation of the electromagnetic motor 116 in this way, the controller 140 can make the actual distance, that is, the actual distance between the pair of gripping claws 110, 10 mm.

[0031] Furthermore, before performing the holding operation of the axial lead component 65, the controller 140 controls the operation of the rotation device 104 so that the direction in which the pair of gripping claws 110 are aligned coincides with the X direction. In doing so, the controller 140 uses a correction value stored in memory 146 to change the direction in which the pair of gripping claws 110 are aligned. Specifically, for example, if the actual direction at the time of calculation of the correction value is tilted 10 degrees counterclockwise with respect to the X direction in the XY plane, the correction value for the rotation angle is calculated as 10 degrees counterclockwise and stored in memory 146. Therefore, the controller 140 sets the target direction for the alignment of the pair of gripping claws 110 to a direction tilted 10 degrees clockwise with respect to the X direction in the XY plane, and controls the operation of the rotation device 104 so that the direction in which the pair of gripping claws 110 are aligned becomes the target direction. In this way, the controller 140 controls the operation of the rotation device 104 so that the actual direction in which the pair of gripping claws 110 are aligned can be set to the X direction.

[0032] Furthermore, before performing the holding operation of the axial lead component 65, the controller 140 controls the operation of the work head moving device 76 so that the center coordinates of the pair of gripping claws 110 coincide with the target coordinates, using correction values ​​stored in memory 146 to move the work heads 70 and 72. Specifically, for example, if the target coordinates are (X1, Y1) and the actual coordinates are (X2, Y2), the correction value for the center coordinates of the pair of gripping claws 110 is calculated as (X3 (=X1-X2), Y3 (=Y1-Y2)) and stored in memory 146. Therefore, the controller 140 controls the operation of the work head moving device 76 so that the center coordinates of the pair of gripping claws 110 become the target coordinates, with the target coordinates being (X1-X3, Y1-Y3). In this way, the controller 140 controls the operation of the work head moving device 76, so that the actual coordinates, that is, the coordinates of the actual centers of the pair of gripping claws 110, can be used as the target coordinates.

[0033] As described above, the controller 140 controls the operation of the electromagnetic motor 116, the rotation device 104, and the work head moving device 76 using correction values ​​stored in the memory 146 before the axial lead component is held, thereby making it possible to match the actual distance with the target distance, the actual direction with the X direction, and the actual coordinates with the target coordinates. This makes it possible to properly hold the axial lead component 65 supplied by the tape feeder 64 with the pair of gripping claws 110.

[0034] Furthermore, when the second axial lead component 65 is held after the first axial lead component 65 has been mounted on the circuit board 12, the correction value calculation is not performed. Instead, the correction value stored in the memory 146 is used to hold the second axial lead component 65. In other words, once the correction value for an axial lead component 65 is calculated and stored in the memory 146, subsequent holding operations for the same type of axial lead component 65 are performed using the correction value stored in the memory 146. Therefore, while it is necessary to calculate the correction value the first time an axial lead component 65 is held in the component mounting machine 10, it is no longer necessary to calculate the correction value for subsequent holding operations of the axial lead component 65. This makes it possible to shorten the time required for imaging the pair of gripping claws 110, calculating the correction value, etc.

[0035] Furthermore, in the work heads 70 and 72, the distance between a pair of gripping claws 110 can be changed by the operation of the electromagnetic motor 116, so that it is possible to mount an axial lead component (see Figure 12) 170 of a different type from the axial lead component 65. Specifically, for example, in the tape feeder 64, as shown in Figure 12, an axial lead component 170 in which a pair of leads 172 are bent is supplied supported by a pair of support members 68. When the distance between the leads of the axial lead component 170 is L3, the pair of gripping claws 110 can grip the pair of leads 172 of the axial lead component 170 by setting the distance between the pair of gripping claws 110 to L3.

[0036] Furthermore, the discrepancies between the actual distance and the target distance, the discrepancies between the actual direction and the target direction, and the discrepancies between the actual coordinates and the target coordinates are, as mentioned above, caused by individual differences in the gripping claws 110, the mounting accuracy of the gripping claws 110 to the head body 100, and play when the gripping claws 110 are mounted to the head body 100. In other words, the discrepancies between the actual distance and the target distance, the discrepancies between the actual direction and the target direction, and the discrepancies between the actual coordinates and the target coordinates are caused by the work heads 70 and 72, and not by the axial lead component being gripped. For this reason, the amount of discrepancy between the actual distance and the target distance, the amount of discrepancy between the actual direction and the target direction, and the amount of discrepancy between the actual coordinates and the target coordinates are the same regardless of the type of axial lead component being gripped. For this reason, once the correction value for the axial lead component 65 is calculated and stored in the memory 146, the holding operation of different types of axial lead components 170 is also performed using the correction value stored in the memory 146. Therefore, while it is necessary to calculate a correction value the first time an axial lead component is held by the component mounting machine 10, it is no longer necessary to calculate a correction value for subsequent axial lead component holding operations, regardless of the type of axial lead component. This makes it possible to shorten the time required for imaging a pair of gripping claws 110, calculating correction values, etc.

[0037] Furthermore, in the tape feeder 64, as described above, the pair of leads 66 taped to the tape component are straight, and the axial lead component 65 is separated from the tape component when the pair of leads 66 is cut. Then, the pair of leads 66 are bent downwards, and the tape feeder 64 supplies the axial lead component 65 with the pair of leads 66 supported by the pair of support members 68. In this way, the straight leads 66 are bent in the tape feeder 64, but depending on the material and diameter of the leads 66, it may not be possible to bend the leads 66 at a right angle, and the axial lead component 65 may be supplied with the leads 66 not bent at a right angle, as shown in Figure 13. Also, even if the leads 66 are bent at a right angle, the restoring force of the leads 66 may cause the axial lead component 65 to be supplied with the leads 66 not bent at a right angle. In other words, the axial lead component 65 may be supplied with the tips of the leads 66 spread out in a V-shape. In such a case, when a pair of gripping claws 110 grips a pair of leads 66, as shown in Figure 14, the tips of the pair of gripping claws 110 gripping the pair of leads 66 deform into a V-shape. When the tips of the pair of gripping claws 110 deform into a V-shape, the distance between the tips of the pair of leads 66 gripped by the pair of gripping claws 110 becomes greater than the distance between the pair of through holes 150, making it impossible to insert the tips of the pair of leads 66 into the pair of through holes 150.

[0038] Furthermore, due to the material, wire diameter, and restoring force of the lead 66, the tips of a pair of leads 66 are angled outwards, which can cause the tips of the pair of gripping claws 110 that grip the pair of leads 66 to twist due to the force of the leads 66 opening. In such cases, even if the distance between the tips of the pair of leads 66 gripped by the pair of gripping claws 110 is approximately the same as the distance between the pair of through holes 150, the direction in which the pair of leads 66 gripped by the pair of gripping claws 110 are aligned and the direction in which the pair of through holes 150 are aligned may be misaligned, making it impossible to insert the tips of the pair of leads 66 into the pair of through holes 150. In other words, if we show a pair of gripping claws 110 and a pair of through holes 150 that grip a pair of leads 66 from an overhead view, as shown in Figure 15, if the direction in which the pair of leads 66 gripped by the pair of gripping claws 110 are aligned and the direction in which the pair of through holes 150 are aligned are offset by an angle θ in the XY plane, then the tips of the pair of leads 66 cannot be inserted into the pair of through holes 150.

[0039] Furthermore, due to the material, wire diameter, and restoring force of the lead 66, the tips of a pair of leads 66 are angled outwards, which can cause misalignment at the tips of the pair of gripping claws 110 that grip the pair of leads 66. As a result, the center of the pair of leads 66 gripped by the gripping claws 110 in the XY plane may be misaligned with the center of the pair of through holes 150. In such cases, even if the distance between the tips of the pair of leads 66 gripped by the gripping claws 110 is approximately the same as the distance between the pair of through holes 150, the center of the pair of leads 66 gripped by the gripping claws 110 and the center of the pair of through holes 150 will be misaligned, making it impossible to insert the tips of the pair of leads 66 into the pair of through holes 150. In other words, if we show a pair of gripping claws 110 and a pair of through holes 150 that grip a pair of leads 66 from an overhead view, as shown in Figure 16, if the center 180 of the pair of leads 66 gripped by the pair of gripping claws 110 and the center 182 of the pair of through holes 150 are misaligned in the XY plane, then the tips of the pair of leads 66 cannot be inserted into the pair of through holes 150.

[0040] In light of the above, the pair of gripping claws 110 gripping the pair of leads 66, and before the pair of leads 66 are inserted into the pair of through holes 150, the pair of gripping claws 110 gripping the pair of leads 66 is imaged by the parts camera 32. Based on this image data, correction values ​​are calculated to correct the distance between the pair of gripping claws 110, the rotation angles of the work heads 70 and 72, and the center coordinates of the pair of gripping claws 110. The correction value calculated based on the image data of the pair of gripping claws 110 not gripping the pair of leads 66, as described above, will be referred to as the first correction value, and the correction value calculated based on the image data of the pair of gripping claws 110 gripping the pair of leads 66, as described below, will be referred to as the second correction value.

[0041] Specifically, before the pair of gripping claws 110 grip a pair of leads 66 and the pair of leads 66 are inserted into a pair of through holes 150, for example, if the direction in which the pair of through holes 150 formed in the circuit board 12 are aligned is the X direction, the operation of the rotation device 104 is controlled so that the direction in which the pair of gripping claws 110 are aligned coincides with the X direction. Subsequently, the operation of the work head moving device 76 is controlled so that the work heads 70 and 72 move above the part camera 32. At this time, the operation of the work head moving device 76 is controlled so that the center coordinates of the pair of gripping claws 110 coincide with a predetermined target coordinate. When the work heads 70 and 72 move above the part camera 32 in this way, the part camera 32 images the pair of gripping claws 110 gripping the pair of leads 66.

[0042] The controller 140 then calculates the distance between the pair of gripping claws 110 based on the imaging data. The distance between the pair of gripping claws 110 calculated based on the imaging data is the actual distance between the pair of gripping claws 110 at the work heads 70 and 72, so the distance between the pair of gripping claws 110 calculated based on the imaging data is referred to as the actual distance. The controller 140 then calculates the difference between the actual distance and the distance between the pair of through holes 150 as a second correction value for the distance between the pair of gripping claws 110 and stores it in the memory 146.

[0043] Further, the controller 140 calculates the arrangement direction in the XY plane of a pair of holding claws 110 that hold a pair of leads 66 based on the imaging data. The arrangement direction of the pair of holding claws 110 that hold the pair of leads 66 calculated based on the imaging data is the actual arrangement direction of the pair of holding claws 110 by the working heads 70 and 72. Therefore, the arrangement direction of the pair of holding claws 110 calculated based on the imaging data is described as the actual direction. Also, since the arrangement direction of the pair of through holes 150 is the X direction, the controller 140 calculates the difference between the actual direction and the X direction as the second correction value of the rotation angle and stores it in the memory 146.

[0044] Further, the controller 140 calculates the XY coordinates of the centers of a pair of holding claws 110 that hold a pair of leads 66 based on the imaging data. The XY coordinates of the centers of the pair of holding claws 110 that hold the pair of leads 66 calculated based on the imaging data are the actual XY coordinates of the centers of the pair of holding claws 110 by the working heads 70 and 72. Therefore, the XY coordinates of the centers of the pair of holding claws 110 that hold the pair of leads 66 calculated based on the imaging data are described as the actual coordinates. Also, the operation of the working head moving device 76 is controlled so that the center coordinates of the pair of holding claws 110 that hold the pair of leads 66 match the target coordinates when the working head moves above the parts camera 32. Therefore, the controller 140 calculates the difference between the actual coordinates and the target coordinates as the second correction value of the center coordinates of the pair of holding claws 110 and stores it in the memory 146.

[0045] Thus, the controller 140 calculates a second correction value based on the imaging data to correct the distance between the pair of gripping claws 110, the rotation angle of the work heads 70 and 72, and the center coordinates of the pair of gripping claws 110, and stores it in the memory 146. Then, before the pair of leads 66 are inserted into the pair of through holes 150, the controller 140 controls the operation of the electromagnetic motor 116 so that the distance between the pair of gripping claws 110 that grip the pair of leads 66 becomes the distance between the pair of through holes 150, and changes the distance between the pair of gripping claws 110 using the second correction value stored in the memory 146. Specifically, for example, if the distance between the pair of through holes 150 is 10 mm, and the actual distance at the time of calculating the second correction value is 12 mm, the distance correction value is calculated as -2 (= 10 - 12) mm and stored in the memory 146. Therefore, the controller 140 sets the target distance to 8 mm, which is the distance between the pair of gripping claws 110, by subtracting a correction value of 2 mm from the distance between the pair of through holes 150, and controls the operation of the electromagnetic motor 116 so that the distance between the pair of gripping claws 110 becomes the target distance of 8 mm. By controlling the operation of the electromagnetic motor 116 in this way, the controller 140 can make the actual distance, that is, the actual distance between the pair of gripping claws 110 that grip the pair of leads 66, 10 mm.

[0046] Furthermore, before a pair of leads 66 are inserted into a pair of through holes 150, the controller 140 controls the operation of the rotation device 104 so that the direction in which the pair of gripping claws 110 that grip the pair of leads 66 are aligned coincides with the direction in which the pair of through holes are aligned. In doing so, the controller 140 changes the direction in which the pair of gripping claws 110 are aligned using a second correction value stored in memory 146. Specifically, for example, if the actual direction at the time of calculation of the second correction value is tilted 10 degrees counterclockwise with respect to the X direction in the XY plane, the second correction value of the rotation angle is calculated as 10 degrees counterclockwise and stored in memory 146. Therefore, the controller 140 controls the operation of the rotation device 104 so that the direction in which the pair of gripping claws 110 are aligned is tilted 10 degrees clockwise with respect to the direction in which the pair of through holes are aligned. In this way, the controller 140 controls the operation of the rotation device 104, so that the actual direction, that is, the direction in which the pair of gripping claws 110 that grip the pair of leads 66 are actually aligned, is made to be the direction in which the pair of through holes are aligned.

[0047] Further, before the pair of leads 66 is inserted into the pair of through holes, when the controller 140 controls the operation of the work head moving device 76 so that the center coordinates of the pair of holding claws 110 that hold the pair of leads 66 match the center coordinates of the pair of through holes, the controller 140 moves the work heads 70 and 72 using the second correction value stored in the memory 146. Specifically, for example, when the target coordinates are (X1, Y1) and the actual coordinates are (X2, Y2), the second correction value of the center coordinates of the pair of holding claws 110 is calculated as (X3 (= X1 - X2), Y3 (= Y1 - Y2)) and stored in the memory 146. Therefore, when the center coordinates of the pair of through holes are (X4, Y4), the controller 140 controls the operation of the work head moving device 76 so that the center coordinates of the pair of holding claws 110 become (X4 - X3, Y4 - Y3). Thus, by the controller 140 controlling the operation of the work head moving device 76, the actual coordinates, that is, the coordinates of the actual center of the pair of holding claws 110 that hold the pair of leads 66 can be made the same as the center coordinates of the pair of through holes.

[0048] As described above, by the controller 140 controlling the operations of the electromagnetic motor 116, the rotation device, and the work head moving device using the second correction value stored in the memory, it becomes possible to make the actual distance match the distance between the pair of through holes, make the actual direction match the direction in which the pair of through holes are arranged, and make the actual coordinates match the center coordinates of the pair of through holes. As a result, it becomes possible to appropriately insert the tips of the pair of leads 66 held by the pair of holding claws 110 into the pair of through holes 150.

[0049] However, as described above, even if the operation of the electromagnetic motor 116, the rotation device 104, and the work head moving device 76 is controlled using the second correction value, it may not be possible to properly insert the tips of the pair of leads 66 gripped by the pair of gripping claws 110 into the pair of through holes 150. In other words, if the deformation amount of the pair of gripping claws 110 is large, or if the restoring force of the leads 66 is large, even if the operation of the electromagnetic motor 116, etc. is controlled using the second correction value, the actual distance may not be the distance between the pair of through holes, the actual direction may not be the direction in which the pair of through holes are aligned, or the actual coordinates may not be the coordinates of the center of the pair of through holes.

[0050] In light of these circumstances, the operation of the electromagnetic motor 116, the rotation device 104, and the work head moving device 76 is controlled using the second correction value, and then the pair of gripping claws 110 holding the pair of leads 66 are imaged again by the parts camera 32. The controller 140 then calculates the actual distance, actual direction, and actual coordinates based on the imaged data and determines whether the actual distance is the distance between the pair of through holes, the actual direction is the direction in which the pair of through holes are aligned, and the actual coordinates are the center coordinates of the pair of through holes. If the actual distance is the distance between the pair of through holes, the actual direction is the direction in which the pair of through holes are aligned, and the actual coordinates are the center coordinates of the pair of through holes, then the pair of leads 66 held by the pair of gripping claws 110 are inserted into the pair of through holes 150.

[0051] On the other hand, if the actual distance is not the distance between the pair of through holes, the actual direction is not the direction in which the pair of through holes are aligned, or the actual coordinates are not the center coordinates of the pair of through holes, the controller 140 calculates a second correction value again based on the imaging data. In other words, the controller 140 calculates a second correction value for the second time based on the imaging data. The method for calculating the second correction value is the same as the method for calculating the second correction value for the first time. After calculating the second correction value for the second time, the controller 140 uses the second correction value to control the operation of the electromagnetic motor 116, the rotation device 104, and the work head moving device 76. The control method using the second correction value is the same as the control method using the first correction value. Then, after the second control using the second correction value, the pair of gripping claws 110 are imaged by the parts camera 32, and the controller 140 determines, based on the image data, whether the actual distance is the distance between the pair of through holes, the actual direction is the direction in which the pair of through holes are aligned, and the actual coordinates are the center coordinates of the pair of through holes. If the actual distance is the distance between the pair of through holes, the actual direction is the direction in which the pair of through holes are aligned, and the actual coordinates are the center coordinates of the pair of through holes, then the pair of leads 66 gripped by the pair of gripping claws 110 are inserted into the pair of through holes 150. On the other hand, if the actual distance is not the distance between the pair of through holes, the actual direction is not the direction in which the pair of through holes are aligned, or the actual coordinates are not the center coordinates of the pair of through holes, then, for example, an error notification is issued.

[0052] Furthermore, if, after the second correction value is applied, the actual distance is the distance between the pair of through holes, the actual direction is the direction in which the pair of through holes are aligned, and the actual coordinates are the center coordinates of the pair of through holes, the controller 140 adds the first and second correction values ​​together and stores them in the memory 146. In other words, if the first distance correction value is calculated as -2 mm and the second distance correction value is calculated as -1 mm, the second distance correction value is calculated as -3 mm and stored in the memory 146. Similarly, if the first rotation angle correction value is calculated as 10 degrees counterclockwise and the second rotation angle correction value is calculated as 5 degrees counterclockwise, the second rotation angle correction value is calculated as 15 degrees counterclockwise and stored in the memory 146. Furthermore, if the first correction value for the center coordinates is calculated as (X3, Y3) and the second correction value for the center coordinates is calculated as (X5, Y5), the second correction value for the center coordinates is calculated as (X3 + X5, Y3 + Y5) and stored in memory 146.

[0053] Furthermore, when the mounting of the second axial lead component 65 is performed after the mounting of the first axial lead component 65, the calculation of the second correction value is not performed, and the mounting of the second axial lead component 65 is performed using the second correction value stored in the memory 146. In other words, once the second correction value for the axial lead component 65 is calculated and stored in the memory 146, the mounting of axial lead component 65 of the same type is performed using the second correction value stored in the memory 146. For this reason, it is necessary to calculate the second correction value the first time the mounting of an axial lead component 65 is performed in the component mounting machine 10, but it is not necessary to calculate the correction value for the mounting of the second and subsequent axial lead component 65s. This makes it possible to shorten the time required for imaging the pair of gripping claws 110 in the state of gripping a pair of leads 66, and for calculating the second correction value.

[0054] Thus, once the second correction value for the axial lead component 65 is calculated and stored in the memory 146, the installation of axial lead components 65 of the same type is performed using the second correction value stored in the memory 146. On the other hand, because the tips of a pair of leads 66 are bent in a V-shape due to the material of the leads 66, the wire diameter, the restoring force of the leads 66, etc., the tips of the pair of gripping claws 110 that grip the pair of leads 66 may be bent in a V-shape or twisted. In other words, the distance between the pair of gripping claws 110, the direction in which the pair of gripping claws 110 are aligned, and the center of the pair of gripping claws 110 differ depending on the type of axial lead component being gripped. For this reason, the second correction value is calculated for each type of axial lead component and stored in the memory 146. In other words, even if the second correction value for the axial lead component 65 is stored in the memory 146 using the method described above, if the second correction value for the axial lead component 170 is not stored in the memory 146, the second correction value is calculated and stored in the memory 146 before the insertion operation of the axial lead component 170 is performed. Then, by using the calculated second correction value for the axial lead component 170 to correct the distance between the pair of gripping claws 110, the direction in which the pair of gripping claws 110 are aligned, and the center of the pair of gripping claws 110, the pair of leads 66 of the axial lead component 170 can be properly inserted into the pair of through holes 150. Furthermore, once the second correction value for the axial lead component 170 is stored in the memory, it is only necessary to use the second correction value stored in the memory 146 during subsequent installation operations of the axial lead component 170, eliminating the need to calculate the second correction value for the axial lead component 170.

[0055] Furthermore, the component mounting machine 10 in the above embodiment is an example of a work machine. The part camera 32 is an example of an imaging device. The control device 34 is an example of a control device. The axial lead component 65 is an example of an axial lead component. The lead 66 is an example of a lead. The work heads 70 and 72 are examples of work heads. The gripping claw 110 is an example of a gripping member. The electromagnetic motor 116 is an example of a changing device. The axial lead component 170 is an example of an axial lead component. The lead 172 is an example of a lead.

[0056] In the embodiment described above, the following effects are achieved.

[0057] The component mounting machine 10 is equipped with work heads 70 and 72 and a part camera 32. The work heads 70 and 72 also have a pair of gripping claws 110 that grip a pair of bent leads 66 and 172 of axial lead components 65 and 170, and an electromagnetic motor 116 that changes the distance between the pair of gripping claws 110. The part camera 32 images the pair of gripping claws 110 when they are not gripping the pair of leads 66 and 172. This makes it possible to correct, for example, the distance between the pair of gripping claws 110, the direction in which the pair of gripping claws 110 are aligned, and the center of the pair of gripping claws 110 before gripping the pair of leads, so that the pair of gripping claws 110 can properly grip the pair of leads.

[0058] Furthermore, the controller 140 controls the operation of the electromagnetic motor 116 to change the distance between the pair of gripping claws before gripping the pair of leads, using a first correction value calculated based on the imaging data of the pair of gripping claws when they are not gripping the pair of leads, as captured by the parts camera 32. This makes it possible to correct the distance between the pair of gripping claws 110 before gripping the pair of leads, allowing the pair of gripping claws 110 to properly grip the pair of leads.

[0059] Furthermore, the controller 140 uses the first correction value to change the distance between a pair of gripping claws 110 before gripping a pair of leads of one axial lead component by controlling the operation of the electromagnetic motor 116. Then, the controller 140 uses the same correction value as the first correction value to change the distance between a pair of gripping claws before gripping a pair of leads of a different axial lead component from the first axial lead component by controlling the operation of the electromagnetic motor 116. This makes it possible to shorten the imaging time of the pair of gripping claws 110, the time required for calculating the first correction value, etc.

[0060] Furthermore, the parts camera 32 captures an image of the pair of gripping claws 110 holding a pair of leads. The controller 140 then uses a second correction value calculated based on the image data of the pair of gripping members holding a pair of leads captured by the parts camera 32 to control the operation of the electromagnetic motor 116 and change the distance between the pair of gripping claws holding the pair of leads. This makes it possible to correct the distance between the pair of gripping claws 110 holding a pair of leads, allowing the pair of leads held by the gripping claws 110 to be properly inserted into the pair of through holes 150 of the circuit board 12.

[0061] Furthermore, the controller 140 uses a second correction value to change the distance between a pair of gripping claws 110 when gripping a pair of leads 66 of one axial lead component 65, by controlling the operation of the electromagnetic motor 116.The controller 140 then uses the same correction value as the second correction value to change the distance between a pair of gripping claws 110 when gripping a pair of leads 66 of a different axial lead component 65, by controlling the operation of the electromagnetic motor 116.This reduces the time required for imaging the pair of gripping claws 110, calculating the second correction value, and so on.

[0062] It should be noted that 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 embodiment, the controller 140 controls the operation of the electromagnetic motor 116 so that the distance L1 between a pair of gripping claws 110 is the same as the distance L2 between leads, as shown in Figure 5, and then lowers the work heads 70 and 72 so that the pair of gripping claws 110 grips a pair of leads 66 of the axial lead component 65. On the other hand, the controller 140 controls the operation of the electromagnetic motor 116 so that the distance L1 between a pair of gripping claws 110 is greater than the distance L2 between leads, as shown in Figure 17, and then lowers the work heads 70 and 72. In this case, the controller 140 lowers the work head so that the grooves 118 of the pair of gripping claws 110 and the pair of leads 66 face each other. Then, the controller 140 controls the operation of the electromagnetic motor 116 so that the distance L1 between the pair of gripping claws 110 is the same as the distance L2 between the leads, so that the pair of gripping claws 110 grips the pair of leads 66 of the axial lead component 65, as shown in Figure 5. In this way, the work heads 70 and 72 may be operated so that the pair of gripping claws 110 grips the pair of leads 66. When the pair of gripping claws 110 grips the pair of leads 66 in this way, the controller 140 controls the operation of the electromagnetic motor 116 using a first correction value.

[0063] Furthermore, in the above embodiment, the first correction value is calculated based on imaging data of a pair of gripping claws 110 in a state where a pair of leads are not being gripped. However, imaging data of a pair of gripping claws 110 in a state where a pair of leads are not being gripped can be used in various ways. Specifically, for example, the presence or absence of defects, curvature, dirt, etc., of the pair of gripping claws 110 may be determined based on imaging data of a pair of gripping claws 110 in a state where a pair of leads are not being gripped.

[0064] Furthermore, in the above embodiment, the distance between a pair of gripping claws 110, the direction in which the pair of gripping claws 110 are aligned, and the center of the pair of gripping claws 110 are corrected using the first and second correction values. However, at least one of the distance between a pair of gripping claws 110, the direction in which the pair of gripping claws 110 are aligned, and the center of the pair of gripping claws 110 may be corrected.

[0065] 10: Component mounting machine (working machine) 32: Parts camera (imaging device) 34: Control device 65: Axial lead component 66: Lead 70: Work head 72: Work head 110: Clamping claw (clamping member) 116: Electromagnetic motor (change device) 170: Axial lead component 172: Lead

Claims

1. A work machine comprising: a work head having a pair of gripping members for gripping a pair of bent leads of an axial lead component, and a changing device for changing the distance between the pair of gripping members; and an imaging device for imaging the pair of gripping members when they are not gripping the pair of leads.

2. The work machine according to claim 1, further comprising a control device that controls the operation of the changing device to change the distance between the pair of gripping members before gripping the pair of leads, using a first correction value calculated based on imaging data of the pair of gripping members in a state where the pair of leads are not gripped, which is imaged by the imaging device.

3. The work machine according to claim 2, wherein the control device controls the operation of the changing device to change the distance between the pair of gripping members before gripping the pair of leads of one axial lead component using the first correction value, and controls the operation of the changing device to change the distance between the pair of gripping members before gripping the pair of leads of an axial lead component different from the one axial lead component using the same correction value as the first correction value.

4. The work machine according to claim 2 or 3, wherein the imaging device images the pair of gripping members in a state in which the pair of leads are gripped, and the control device controls the operation of the changing device to change the distance between the pair of gripping members in a state in which the pair of leads are gripped using a second correction value calculated based on the imaging data of the pair of gripping members in a state in which the pair of leads are gripped, as captured by the imaging device.

5. The work machine according to claim 4, wherein the control device controls the operation of the changing device to change the distance between the pair of gripping members when gripping a pair of leads of one axial lead component using the second correction value, and controls the operation of the changing device to change the distance between the pair of gripping members when gripping a pair of leads of an axial lead component different from the one axial lead component using the same correction value as the second correction value.

Images