JPS59201780A - Part fixture - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to a component mounting device.

For example, when attaching many types of parts, such as electronic parts, to a printed circuit board, etc., it is often done manually, resulting in high costs and poor efficiency, especially in production lines with a large amount of work. In addition, manual work has the disadvantage that there are large variations in parts installation accuracy, resulting in many defective products.
A component mounting device that mounts components by automatic control is used, and the basic configuration of the conventional example will be explained based on Figs. 1, 2, and 3 (a), and (C1). In the figure, a robot hand 2 is fixed on a workbench 1. This robot hand 2 is a so-called horizontal articulated robot called a scalar robot.
It has a first arm 2a and a second arm 2b, and provides planar coordinates by rotating each arm.

It acts just like the human right arm. Since scalar robots are well known, we will not discuss them in detail here. A head portion 4 that supports the chuck 3 and drives the chuck in the vertical direction is provided at the tip of the second arm 2b. The head section 4 has a so-called cylinder mechanism, and is operated by compressed air supplied at a predetermined timing from, for example, a near compressor (not shown). A conveyor 5 is disposed within the work area of the robot hand 2, and a printed circuit board 6 as a work object is transported by the conveyor, for example. The lower end of the chuck 3 is provided with a finger portion 3a capable of gripping an electronic component 7 to be attached to a printed circuit board 6, and the finger portion is preferably provided at a predetermined timing from the near compressor (not shown). The electronic component 7 is gripped by the compressed air supplied by the electronic component 7.

The robot hand 2 is electrically connected to a control panel (not shown) and an operation panel (not shown) for automatically controlling the robot hand.

Frames 8 and 9 are arranged on both sides of the workbench 1.

A component supply mechanism for supplying, for example, six types of electronic components is provided on the pedestal 8.

The component supply mechanism includes a component source 11a that stores various electronic components and sends out the electronic components using moon vibration or gravity.
, 12a, 13a, 14a, '15a, and 16a, and component transport units 11b, 12b, and 13b that transport electronic components sent out from each component source.

14b, 15b and 16b, and component take-out sections 11c and 12c that take out electronic components from the component transport section.

It is composed of 13c, 14c, 15c and 16'C.

The conveyor 5 is fixed to the workbench 1 and includes an LC fixed rail 5a, a movable rail 5b that is movable toward or away from the fixed rail 5a, and a drive mechanism (see FIG. (not shown), and the rail spacing can be adjusted according to the dimensions of the printed circuit boards 6 to be conveyed on the conveyor.

A component mounting procedure using the component mounting device configured as described above will be briefly explained.

By issuing a command signal, the robot hand 2
And the component supply mechanism starts operating at a predetermined timing. A desired electronic component is gripped by the chuck 3 of the robot hand 2, and then transported onto the printed circuit board 6 and attached thereto. Thereafter, this operation is repeated for each electronic component.

The chuck 17 shown in FIG. 4 is a modified version of the so-called multi-chuck, which is improved so that it can grip four types of electronic components, for example, whereas the chuck 3 described above can only grip one type of electronic component. It's Chuck. The chuck 17 has a finger attachment portion 17. which is rotatable about a shaft member 17a. It has b. The finger attachment portion 17b has a cross-shaped branch shape, for example, and a finger portion 17c that is formed to correspond to the shape of each electronic component and capable of gripping the electronic component is fixed to each branch end.

When this chuck 17 is attached to the head section 4 and used, the finger attachment section 17b rotates at a predetermined timing in conjunction with the operation of the robot hand 2.

In addition to the above-mentioned method of increasing the types of electronic components that can be mounted by using a multi-chuck, there is a method of using a double-headed head 18 shown in FIG. 5. That is, whereas the head 4 shown in FIG. 2 is a single-head type and can support only one chuck 3 or chuck 17, by using this double-head type head 18, the number of chucks can be reduced to two. It is something to do. However, the double-headed head 18 is heavy, and when used together with the multi-chuck, the weight of the arm end of the robot main body 2 increases too much, resulting in a reduction in work speed and parts mounting accuracy. Further, even if a multi-chuck and a double-headed head are used together, the number of types of parts that can be mounted will not increase so much.

Therefore, in order to increase the number of types of attachment parts, we have developed a type of component in which a plurality of fingers molded to correspond to the shape of each electronic component and capable of gripping the electronic component are arranged as a group within the work area of the robot hand. An attachment device has been developed.

This type of component mounting device is basically shown in Figures 1 to 3.
It has the same structure as the component mounting device of the type shown in FIG. 3(C), and has a structure in which the finger portion 3a shown in FIG. Further, a new finger gripping iia is added to the chuck 3 to removably grip the finger portion 3a.

The procedure for removing electronic components using such a finger-exchanging component mounting device will be briefly explained.

First, the robot hand 2 is made to select a desired finger from a group of fingers, and the finger is attached to the chuck. The selected finger is conveyed to a component take-out section of a component supply mechanism that supplies an electronic component to be attached, and the electronic component is gripped by the finger. This is then transported to the component mounting position and mounted, after which the fingers are returned to the finger group. From now on, repeat this operation.

In the above-mentioned finger exchange type component mounting device,
By efficiently arranging the parts ejecting part of the parts supply mechanism and the group of fingers within the working area of the robot hand 2, the types of electronic parts that can be mounted are dramatically increased compared to component mounting devices that do not use finger replacement. You can.

However, the robot hand 2 must select a desired finger from a group of fingers and carry it in a predetermined manner, making the two-dimensional positioning program of the robot hand more complicated than in a non-finger replacement component mounting device. , and that many position sensors for the robot hand must be attached.

The present invention has been made in view of the above points, and its purpose is to provide a component mounting device that can simplify the finger positioning program of a robot hand and reduce the number of position sensors of the robot hand. do.

A component mounting device according to the present invention includes a component supply means for supplying a component, a finger capable of gripping the component, and a conveyance means for gripping the component with the finger and transporting the component to a component mounting position to be worked, The component supply means is characterized in that it has a support member that removably supports the finger at a predetermined position.

Furthermore, the component mounting device according to the present invention includes a component supply means for supplying a component, a finger capable of gripping the component, and a conveyance means for gripping the component with the finger and transporting the component to a component mounting position, The component supply means is characterized in that it has a support member that removably supports the finger at a predetermined position, and an angle regulating means that determines the angular position of the finger with respect to the support member.

Hereinafter, a component mounting device according to an embodiment of the present invention will be described with reference to FIGS. 6 to 12.

In the figure, a robot hand fixing base 31 is fixedly installed on the upper right end surface of the workbench 30. Further, a conveyor 33 is provided on the workbench 30 for transporting a workpiece such as a printed circuit board 32 in the right direction (arrow X direction), and the conveyor is passed under the robot hand fixing base 31. ing. A robot hand 34 is installed on the robot hand fixing base 31. The robot hand 34 is of a so-called multi-joint type, which is called a scalar type.
It has a first arm 34a and a second arm 34b, and provides planar coordinates by rotating each arm around its support point. In other words, it behaves exactly like the human right arm. Since such a scalar type robot hand is well known, it will not be described in detail here.

A head section 35 is attached to the tip of the second arm 34b of the robot hand 34. The head portion 35 has a structure that utilizes a cylinder mechanism, and is moved in the vertical direction (in the direction of arrow 7 and the opposite direction) by compressed air supplied at a predetermined timing from a near compressor (not shown), for example.
It is provided with a rod portion 35a that operates in the following manner. Rod part 35
A chuck 36 is attached to the lower end of a. The chuck 36 has, for example, nine fingers 41, 42, .
43, 44, 45, 46, 47, 48 and 49 are detachably held.

Here, the basic configuration of the finger will be explained using the finger 41 as an example.

As is clear from FIGS. 9 +a+, <b+, +c+ and <d+, the finger 41 has a body 41a as a shell member of the finger. The upper part of the body part 41a is a cylindrical part 41c having a groove 41b formed in its outer circumference. Inside the cylindrical portion 41C, there is a push rod 4 that serves to push the electronic component 51 to be gripped by the fingers 41 downward.
1d is inserted. The push rod 41d is also fitted into a through hole 41f formed in the lower end 41e of the body 41a, and its lower end 41g protrudes below the body 41a. The outer diameter of the lower end portion 41o is larger than the inner diameter of the through hole 41f, and upward movement of the push rod 41d is restricted.

A chuck cam 41h is fitted onto the push rod 41d.

A stopper 411 is fixed to the upper end of the push rod 41d with a machine screw or the like, and the stopper and the chuck cam 41
A coil spring 41j is interposed between the upper end of h and the upper end of the coil spring 41j. A male screw 41k is screwed into the upper part of the chuck cam 41h, and a cylindrical intermediate member 41Q is attached to the male screw.
A female screw is screwed into the lower end of the holder. The intermediate member 41p is externally fitted onto the stopper 411 and the coil spring 41j. Intermediate member 41! The enlarged diameter part 41 is located at the upper end of l.
n is formed, and a coil spring 41p is interposed between the expanded diameter portion and an overhang portion 410 protruding from the lower end of the inner circumference of the cylindrical portion 41C.

A pair of chuck levers 410 are provided at the left and right ends of the body 41a.
is swingably supported within a predetermined range via a shaft 41r. The chuck lever 41q has a bearing member 418 attached to its upper end, and the chuck cam 41
It smoothly engages with a tapered cam portion 41t formed on the outer periphery of h and whose diameter expands downward. A coil spring 41u is housed in the upper end of the chuck lever 41Q, and the upper end of the coil spring 41u abuts an enlarged diameter portion 41v formed at the lower end of the cylindrical portion 41c. A pair of finger claws 4.1w for pinching and gripping the electronic component 51 are fixed to the lower end of the chuck lever 41q by screws 41x.

The spacing between the finger claws 41W can be adjusted by loosening the screws 41X. Further, a portion of the body portion 41a that pivotally supports the chuck lever 41Q protrudes outward by a predetermined amount so that it can be engaged with a supporting member to be described later.

Further, this portion is referred to as an engaging protrusion 41y.

Each of the fingers 42 to 48 other than the finger 41 is configured in substantially the same manner as the finger 41, for example, the finger claw 41.
Various electronic components can be gripped by changing the distance between w.

Next, the configuration of the chuck 36 will be explained.

As shown in FIG. 10, the chuck 36 includes a substantially cylindrical intermediate member 36a that is fixed to the rod portion 35a of the head portion 35 of the robot hand 34 by, for example, screwing. A support portion U' 36b is fitted into the lower end of the intermediate member 36a and is fixed by a screw 36c. Compressed air is supplied to the hollow portion 36d of the intermediate member 36a through the rod portion 35a.

A pipe 36e to which compressed air is supplied through a line separate from the air supply line to the hollow part 36d is pushed through the hollow part 36d, and the pipe 36e passes through the intermediate member 36a and the support member 36b. ing. A male thread 36f is threaded on the small diameter portion of the support member 36b, and a female thread threaded on the upper end of the substantially cylindrical fixed body 36a externally fitted onto the small diameter portion is threaded into the male thread. It matches. A substantially cylindrical piston member 36h is provided within the fixed barrel 36a and slidably within a predetermined range between the fixed barrel and the inner circumferential surface of the fixed barrel via a packing. For example, there is a finger 4 at the lower end of the piston member 361).
The protrusion 3 that can be engaged with the enlarged diameter portion 41n of the intermediate member 419 of No. 1
6j is formed. Inside the piston member 36h, a push rod piston 36j whose lower end can be engaged with, for example, the push rod 416 of the finger 41 is slidably provided between the piston member 36h and the inner circumferential surface of the piston member 36h via a packing 36k. ing. For example, there are fingers 4 near the lower end of the fixed body 369.
A steel ball 36Q that can be engaged with the first groove 41b is fitted so as to be movable within a predetermined range in the radial direction of the fixed cylinder. A movable cylinder 3Ell is slidably engaged with the outer periphery of the fixed amount 369 within a predetermined range via a packing 36n. A male screw 360 is formed in the lower part of the movable tube 36m, and a female screw threaded on the upper end of the cylindrical engagement tube 360 is screwed into the core male screw. The inner circumferential surface of the engagement cylinder 36p is slidably engaged with the fixed cylinder 369 via a gasket 36q. A steel ball 36 is provided at the lower end of the engagement tube 36p.
A tapered cam portion 36r that can be engaged with i1 is formed. A coil spring 36's is interposed between the upper end of the movable tube 36m and the large diameter portion of the support member 36b, which presses the movable tube 36m in a direction away from the large diameter portion. The large diameter portion of the support member 36b is provided with a through hole 36t extending in the radial direction of the large diameter portion, and this through hole 36t communicates with the hollow portion 36d of the intermediate member 36a through an oblique hole 3641. A pipe 36v is connected to the through hole 36t, and the pipe 36v connects the fixed cylinder 36g and the movable cylinder 36m.
It communicates with the pressure receiving space 36w between.

The robot hand 34 including the chuck 36 has a control panel (not shown) in which a program for automatically controlling the robot hand is installed and an operation panel (not shown) for operating the robot hand. It is electrically connected and has a working IJA 34c shown in FIG. 6(a). The robot hand 34, together with the control panel and operation panel, constitutes a component mounting mechanism that grips electronic components with the fingers, carries them to a component mounting position on the printed circuit board 32, which is the work target, and attaches them. Further, the control panel is provided with a terminal that can be connected to the robot hand 34 and its peripheral devices in order to determine the timing of their operations.

As shown in FIG. 8, a longitudinal base member 53 extending parallel to the conveyor 33 is fixed on the workbench 30. On the base member 53, nine component feeders 54, 55, 56, 57, 58, 59, 60, 61, and 62, each feeding electronic components to be attached to the printed circuit board 32, are attached by bolts or the like. ing. These nine component supply machines constitute a component supply means that supplies, for example, nine types of components. Each of the component feeders 54 to 62 includes a component source (not shown) that stores various electronic components and sends out the electronic components, and a component source (not shown) that stores various electronic components and sends out the electronic components, and the electronic components sent out from each component source by gravity, mechanical vibration, or a predetermined drive mechanism. A component transport section 54a that transports the parts using, etc.
55a, 56a, 57a, 58a, 59a,
60a, 61a, and 62a, and component take-out sections 54b, 55b, and 5 for taking out electronic components from each component transport section.
6b, 57b, 58b, 59b, 60b, 6
1b and 62b.

Each component transport section 54a to 62a and each component take-out section 54b
- 62b, and when exchanging component types between component feeders, for example, only the component transport section can be replaced by simply removing screws and the like.

Here, the basic configuration of the component extraction sections 54b to 62b will be explained using the component extraction section 54b as an example.

As shown in FIG. 11 (ω and peaks), the component removal portion 54b has a seat 54c that is attached to the base member 53 with a bolt or the like. A lower end portion of a wall member 54d extending upward is fixed to the seat 540. Wall member 5
One end of a horizontal member 54e extending in a direction substantially perpendicular to the extending direction of the wall member 54d is fixed to the upper end portion of the wall member 4d, and the horizontal member constitutes a supporting member capable of supporting, for example, the finger 41 together with the wall member 54d. ing. An opening 54f into which the lower end 41e of the body 41a of the finger 41 can be inserted is formed in the horizontal member 54e. A support portion 54 (+) is provided to protrude into the opening 54 [, and the finger 41 is supported by this support portion 54++. Each horizontal member 54e also has a pair of steel balls 54h1 coil springs. 541 and a screw 54j is provided so that the steel ball 541) engages with a recess formed in the finger 41 when the finger 41 is supported on the support member. . This locking mechanism, together with the supporting portion 54i), acts as means for positioning the finger 41 in the direction of the central axis of the finger.

As is clear from FIG. 11 (ω), the horizontal member 54e has an engaging protrusion 41y of the finger 41 that is continuous with the frontage 54f.
A notch 54k that can be engaged with is provided. The engaging protrusion 41y and the notch 54 engage with each other when the finger 41 is supported on the support member, and act as angle regulating means for determining the angular position of the finger 41 with respect to the support member. The angle adjusting means is not limited to the above-described one, and any structure that allows mechanical engagement may be used, such as providing a protrusion on the horizontal member 54e and providing a recess that can be engaged with the protrusion on the finger 41. Furthermore, it goes without saying that various methods using magnetic force or the like can be implemented, regardless of the mechanical engagement structure.

A cylinder device 54111 is attached to the wall member 54d via a support plate 5411. Cylinder device 54m
A component extrusion member 540 is attached to the tip of the rod portion 54n. The rod portion 54n and the component pushing member 54o are pressed upward by a coil spring (not shown) or the like.

The component extrusion part ta540 includes a support plate 540 and a horizontal member 5.
A guide shaft 54p provided between 4e and a seat 540
It is slidably engaged with another guide shaft 54q that is provided above. Expanded diameter portions 54r and 543 are formed in the guide shirt (~54p and 54Q, respectively) to restrict the movement of the component extrusion member 54° within a predetermined range. Accordingly, it is operated at a predetermined timing by, for example, compressed air, and together with the component extrusion member 540, etc.
Electronic components 51 sequentially transported by the component transport section 54a
The parts separating means is configured to separate the succeeding parts from the first part. The component separating means is connected to the supporting member via the support plate 549 and the guide shaft 54p as described above. By coupling the component separating means and the supporting member in this manner, the structure of the component extracting section 54b including the component separating means and the supporting member becomes strong.

Note that the component separating means may not be necessary depending on the shape of the electronic component.

Furthermore, the component separating means is not limited to one using the above-mentioned cylinder device, but may have various structures depending on the shape of the component.

As is particularly clear in FIG. 12, the conveyor 33 includes a fixed rail 33a that is fixed to the workbench 30, a movable rail 33b that is movable toward or away from the fixed rail 33a, and a fixed rail 33a. Pipe member 3 with a rectangular cross section arranged to sandwich the movable rail 33b
3c. Fixed rail 33a and pipe member 3
A pair of feed screws 33d are provided between the feed screws 3c and the feed screws 33d, which are threaded over substantially the entire length. Each feed screw 33d
One end is pivotally supported by a support portion 33e provided on a fixed rail 33a. The other end of each feed screw 33d is pivotally supported by a support portion 33f provided on a pipe member 33c, and its tip protrudes into the pipe member, and a sprocket 33g is fixed to each tip. has been done.

A chain 33h is stretched between each sprocket so that both feed screws 33d rotate synchronously. The feed screw 33d is driven by a motor 33i fixed to the pipe member 330 via, for example, a deceleration belt 33j.

Since both feed screws 33d are screwed into a block member 33k fixed to the movable rail 33b, the movable rail 33b moves toward or away from the fixed rail 33a according to the rotation of both the feed screws 33d. Moving.

A pair of belts 33m is stretched over substantially the entire length of both fixed rails 33a and movable rails 33b via a plurality of pulleys 3311, respectively.

A pair of motors 33 are provided on the lower surfaces of the fixed rail 33a and the movable rail 33b, respectively, and are configured to rotate synchronously.
n is fixedly installed, and the belt 33m is driven by both motors.

A support member 330 having a U-shaped cross section and open at the top is fixed to the surface of the movable rail 33b facing the pipe member 33c. The gauge member 33p is housed within the working area of the robot hand 34 when not in use, and FIG. 12 shows the gauge member 33p in use. As shown in the figure, during use, the cage member 331) is transported by the robot hand 34 from the storage position to a predetermined position corresponding to the electronic component gripping position by the robot hand. The gauge member 33p transported to a predetermined position by the robot hand 34 is attached to the fixed rail 33a.
and is held by the robot hand so as to extend at right angles to the longitudinal direction of the movable rail 33b. Gauge member 33p
A notch 33q is formed at a predetermined position.

On the other hand, a light emitting element 33r and a light receiving element 33s are fixed to a support member 330 fixed to the movable rail 33b so as to face each other so as to sandwich the gauge member 33p positioned at the predetermined position. The light emitting element 33r and the light receiving element 338 detect the notch 33Q of the gauge member 33p positioned at a predetermined position. The movable rail 33b is driven in response to a signal generated by detecting the notch 33q.

Said motor 3311 gauge member 33p, light emitting element 33r
The relative position of the movable rail 33b with respect to the component gripping position of the robot hand 34 is detected by the light receiving element 338 and the like, and the rail spacing is adjusted so that the relative position is a desired position suitable for the width of the printed circuit board 32, for example. A rail spacing adjustment device is configured.

Note that the rail spacing adjustment device is not limited to one that uses optical means such as the above-mentioned light receiving and emitting means, but may also be one that uses magnetic force or the like.

Further, although only one of the pair of rails of the conveyor 33 is movable, both rails may be movable.

As is clear from FIG. 7, a support rod installation table 65 disposed below the conveyor 33 has a plurality of support rods 6 that support the printed circuit board 32 on its back surface when electronic components are attached.
6 has been planted. The support rod 66 is replanted by the robot hand 34 according to changes in the shape of the printed circuit board, and is stored in the work area 34C of the robot hand 34 on the workbench 30 when not in use.

Figures 13 to 15 show a case where the component mounting devices are installed in a production line in three series, for example, and component supply mechanisms 68, 69, and 70 for supplying various components are provided in each component mounting device. It is being

When a plurality of component mounting devices are installed in series in this manner, the operations of each robot hand and its peripheral devices are centrally controlled.

Next, a process of attaching electronic components to a printed circuit board using the component attaching apparatus having the above-described configuration will be briefly described.

First, the printed circuit board 32 is conveyed by the conveyor 33 into the working area of the robot hand 34. At this time, the support rods 65 are installed on the support rod installation base 65 according to the shape of the substrate 32.
is planted by the robot hand 34. When the printed circuit board 32 that has been transported is positioned at a predetermined position, the robot hand 34 selects a desired finger, for example, finger 41, from among the fingers 41 to 49 that grip and hold various electronic components. Hold.

Here, the operation of the robot hand 34 to hold the finger 41 will be explained based on FIG. 10.

The robot hand 34 operates based on a predetermined program, and the chuck 36 is positioned on the finger 41 that is positioned and supported by the horizontal member 54e of the component takeout section 54b. This finger 41 grips an electronic component 51 that has already been positioned.

When the chuck 36 is positioned on the finger 41, commissioning air is supplied to the hollow portion 36d of the intermediate member 36a.

Since the compressed air supplied to the hollow portion 36d is sent to the pressure receiving space 36w through the pipe 36v, the movable cylinder 36m and the engagement cylinder 36p are pushed upward against the pressing force of the coil spring 36s. Therefore, the steel ball 36Il becomes movable.

While maintaining this state, the head part 3 of the robot hand 34
5 is activated, the chuck 36 is lowered to a finger holding position, that is, a position where the steel ball 36p can engage with the groove 41b of the finger 41. At the same time as the chuck 36 reaches the finger holding position, the supply of compressed air to the hollow portion 36d is cut off. Then, the movable cylinder 36III and the engaging cylinder 3
6p is pushed down by the coil spring 36S.

Therefore, the steel ball 36 is
9 is pressed in the direction of the groove 41b of the finger 41, and the steel ball 3
6Q engages with the groove 41b. The fingers 41 are thus held on the chuck 36.

When the finger 41 is held by the chuck 36, the head section 35 is activated to raise the chuck 36, and then the robot hand 34 is activated to carry the finger 41 onto a predetermined mounting position on the printed circuit board 32. be done. Then,
The head section 35 operates and the chuck 36 and fingers 41
is descending.

As the chuck 36 descends, compressed air is supplied to the pipe 36e inserted into the chuck, the piston member 36h slides within the fixed barrel 36g, and the push rod piston 36j moves against the piston member 36h. Each can be lowered by sliding inside. When the piston member 36h is lowered, the protrusion 36i of the piston member engages the finger 4 shown in FIG.
Since the intermediate member 41q and chuck cam 41h of No. 1 are pressed, the chuck lever 41q becomes swingable and the finger claws 41w are separated by the pressing force of the coil spring 4.1u, and the electronic component 51 is released from the gripping state. Ru. On the other hand, the push rod 41d of the finger 41 is pressed by the lowering of the push rod piston 36j, and the electronic component 51 is pushed out and attached to the component mounting position of the printed circuit board 32.

When the installation of the electronic component 51 is completed, the chuck 3
6 is raised. Next, the robot hand 34 operates to return the chuck 36 and fingers 41 onto the original parts removal section 54b.

The chuck 36 and the fingers 41 are part of the parts removal section 54b.
When it reaches the top, the chuck 3 is moved by the operation of the head section 35.
6 and finger 41 are lowered. At this time, finger 41
The finger claw 41w remains open. chuck 3
6 and the finger 41 are lowered, and the finger 41 is fitted into the opening 54f of the horizontal member 54e of the component removal part 54b and is supported by the support part 54a, and at the same time, the engagement protrusion 41y of the finger 41 is held horizontally. The support member (wall portion U3) of the finger 41 is engaged with the cutout portion 54k of the member 54e.
4d and horizontal member 54e) is determined. By lowering the finger 41 with the finger claw 41w open, the finger can grip a new electronic component. That is, one new electronic component is separated from the group of components by the above-mentioned component separating means so that the fingers 41 can grip it while being supported on the supporting section 54 (1). hand,
At the same time as the finger 41 is supported on the support portion 54g, the supply of compressed air to the pipe 36e of the chuck 36 is cut off,
The finger claw 41w is closed by the coil spring 41p of the finger 41, and a new electronic component is gripped.

Further, the push rod 41d of the finger 41 is returned to its original position by the coil spring 41j.

After gripping the new electronic component with the fingers 41,
Compressed air is again supplied to the hollow portion 36d of the chuck 36, and the state in which the finger 41 is held by the chuck 36 is released. Thereafter, the head portion 35 is operated and the chuck 36 is raised. The robot hand 34 then selects the next finger, for example finger 42, and repeats the above steps to attach another electronic component.

Here, the operation of the component extraction section 54b will be explained.

FIGS. 11a and 11b show the state before the component removal section 541) is operated. Now robot hand 34
Assume that the finger 41 is selected and the electronic component 51 gripped by the finger is taken out. Then, the cylinder device 54+11 is activated and the rond portion 54n of the cylinder device is lowered. Therefore, the component pushing member 540 descends to the position shown by the two-dot chain line in FIG. The part is extruded onto part extrusion member 540. Then, the compressed air supply to the cylinder device 54m is stopped, and the rond part 54n
The component pushing member 540 is pushed upward by the pressing force of a coil spring (not shown). At the same time as the component push-out member 540 rises, movement of the component group is regulated by the component push-out member.

Next, the rail interval adjustment operation of the conveyor 33 will be explained.

For example, the robot hand 34 which receives the width of the printed circuit board 32 by a detection signal conveys the gauge member 33D to a predetermined position as shown in FIG. 12 according to a designated operation program. The gauge member 331) transported to a predetermined position by the robot hand 34 is held by the robot hand so as to extend at right angles to the longitudinal direction of the fixed rail 33a and the movable rail 33b. When the gauge member 33p is positioned at the predetermined position, the motor 33i is activated and the movable rail 33b is driven, for example, in a direction closer to the fixed rail 33a. An output signal is generated when the light emitting element 33r and the light receiving element 33s detect the notch 33g of the gauge member 331), and the motor 33is and therefore the movable rail 33
b stops.

In the above embodiment, the robot hand 34 is provided above the conveyor 33, but the conveyor 33 can be omitted and a component feeder can be added in the work area 34C of the robot hand 34 by the amount of the conveyor. However, in this case, the printed circuit board 32 is placed manually.

Further, in the above embodiment, the printed circuit board 32 is the work target.
Although the above example shows the case where the parts to be attached to the printed circuit board are electronic parts, the invention is not limited to this.
For example, it goes without saying that the object of work may be a mechanical device and the parts may be mechanical parts.

As described in detail above, in the component mounting device according to the present invention, the component supply mechanism is provided with a finger holding means for maintaining the fingers in the correct position, and the fingers are further positioned. Therefore, the two-dimensional positioning program for the robot hand is simplified compared to the conventional finger replaceable component mounting device, and the number of position sensors for the robot hand is also reduced.

[Brief explanation of the drawing]

Figures 1, 2, 3 +a+, +b+ and (C) are diagrams showing the basic configuration of a conventional component mounting device, and Figures 4 and 5 are diagrams showing the basic configuration of a conventional component mounting device. Figures 6 and 7 showing the multi-chuck and double-headed head to be used
8 and 8 are respectively a top view, a front view, and a side view of the component mounting device according to the present invention, and FIG. 9 (ω, mountain), (C), and (
The small figures are a top view, a partial front view, a bottom view, and a side view of each finger, FIG.
ω and +b+ are a top view and a side sectional view of a component take-out unit and a component transport unit as part of the component supply means, FIG. 12 is a perspective view of the conveyor, and FIGS. 13, 14, and 15 are main views. 1A and 1B are a top view, a front view, and a side view, respectively, showing a state in which the component mounting device according to the invention is connected; FIG. Explanation of symbols of main parts 30... Workbench 31... Robot hand fixing base 32...
- Printed circuit board 33...Conveyor 33a...Fixed rail 33b...Movable rail 33d...Feed screw 331...Motor 33p... ... Gauge member 33Q ... Notch 33r ... Light emitting element 333 ... Light receiving element 34 ... Robot hand 34c ... Work area 35...Head part 36...Chuck 41.42.43.44.45.46.47°48.4
9...Finger 41y...Engaging protrusion 51...Electronic component 53...Base member 54, 55, 56, 57, 58, 59, 60 ,61.6
2... Parts supply machines 54a, 55a, 56a, 5
7a, 58a, 59a, 60a, 61a, 62a...
. . . component conveyance units 54b, 55b, 56b, 57t), 58b, 59b,
60b, 61b, 62b... Component removal portion 54c... Seat 54d... Wall member 54e... Horizontal member 54f... Opening 540 ...Carrying part 54h ... Steel ball 54i ... Coil spring 54j ... Screw 54k ... Notch part 549 ... Support plate 54m... Cylinder device 54n... Rod portion 540... Parts extrusion member 54+), 54Q... Guide shaft 54r
, 54s...Applicant for expanded diameter section Pioneer Co., Ltd. agent Patent attorney Motohiko Fujimura (1 other person)) 84c 8th U! J Tewa C Nem Seishocho (spontaneous) +1i3 June 14, 1981 1, Display of the case 1982 Patent Application No. 072504 2, Name of the invention Parts mounting device 3, Person making the amendment Related Patent Applicant Address: 1-4-1 Meguro, Meguro-ku, Tokyo Name:
(501) Pioneer Corporation 4, Agent
104 Address Kyodo Building, 3-10-9 Ginza, Chuo-ku, Tokyo (Ginza 3-chome) Telephone: 543-7369 Name (79)
1”l) Patent attorney Motohiko Fujimura5, Date of amendment order Voluntary6, Number of inventions increased by amendment None7, Subject of amendment Column 8 of “Claims” of the specification, Contents of the amendment Correct the range as shown in the attached sheet. [Attachment] ``2. Claims (1) A component supply means for supplying a component, a finger that can grip the component, and a device that grips the component with the finger and transports it to a component mounting position to be worked on. A component mounting device comprising a conveying means, and the component supply means having a supporting member that removably supports the finger at a predetermined position. (2) A component supply means for supplying the component; The component supply means includes a finger that can be gripped, and a conveying means that grips the component with the finger and conveys it to a component mounting position, and the component supply means includes a Jfl holding part that detachably holds the finger in a predetermined position. and an angle regulating means for determining an angular position with respect to the supporting member. (3) The angle regulating means has a structure that mechanically engages the fin force with the supporting member. The component-mounting device according to claim 2, characterized in that:

Claims (1)

[Scope of Claims] (1) A device comprising a component supply means for supplying a component, a finger capable of gripping the component, and a conveying means for gripping the component with the finger and transporting the component to a work target component mounting position. , a component mounting device characterized in that the component supply means has a support member that detachably supports the fingers at a predetermined position.(2) A component supply means for supplying a component, a finger capable of gripping the component; , a conveyance means for gripping the component by the finger and conveying it to a component mounting position, and the component supply means includes a support member for removably supporting the finger in a predetermined position, and an angle of the finger with respect to the support member. A component mounting device characterized by having an angle regulating means for determining a position. (3) The angle regulating means has a structure for mechanically engaging the finger and the supporting member. The component mounting device according to claim 2. (4) The component mounting device according to claim 1 or 2, characterized in that the component supply means has vertical positioning means in the finger center axis direction. .