WO2018134873A1

WO2018134873A1 - Work device for mount

Info

Publication number: WO2018134873A1
Application number: PCT/JP2017/001359
Authority: WO
Inventors: 鈴木　直樹
Original assignee: ヤマハ発動機株式会社
Priority date: 2017-01-17
Filing date: 2017-01-17
Publication date: 2018-07-26
Also published as: JP6703143B2; JPWO2018134873A1

Abstract

This work device for a mount (100) is constituted in such a manner that, when predetermined work is performed on a mount (P) by a head unit (2), a first holding member (91) held by a mount holding unit (4) is caused to move in the transport direction relative to a second holding member (92) held by a transport unit (1), resulting in the first holding member held by the mount holding unit being separated from the second holding member supported by the transport unit.

Description

Mounted work equipment

The present invention relates to a mounted object working apparatus, and in particular, to a mounted object holding unit that holds the mounted object and moves the held mounted object, and a mounted object that is held by the mounted object. The present invention relates to a mounting object working apparatus including a head unit that performs work.

2. Description of the Related Art Conventionally, a mounted object that includes a mounted object holding unit that holds the mounted object and moves the held mounted object, and a head unit that performs a predetermined operation on the mounted object held by the mounted object. A working device is known. Such a mounted work apparatus is disclosed in Japanese Patent Application Laid-Open No. 2012-178489.

In a component mounting apparatus (mounted object working apparatus) disclosed in Japanese Patent Application Laid-Open No. 2012-178489, a substrate (mounted object) including a component mounting surface having an arcuate cross section is held, and components are transferred. A substrate holding device (mounting object working device) that rotates (moves) the held substrate is provided as possible. In addition, the component mounting apparatus is provided with a component transfer device (head unit) that performs a component transfer operation on a substrate held by the substrate holding device. In this component mounting apparatus, the substrate is conveyed above the substrate holding device by the pair of conveyor belts, and the substrate is transferred from the pair of conveyor belts to the substrate holding device.

JP 2012-178489 A

In the component mounting apparatus described in the above Japanese Patent Application Laid-Open No. 2012-178489, although there is no clear description, when a substrate is transferred from the pair of conveyor belts to the substrate holding device, the substrate is supported by the pair of conveyor belts. In order to cancel, it is considered necessary to move the pair of conveyor belts to the retracted position. In this case, it is considered that there is a problem that the substrate (mounting object) cannot be transferred from the pair of conveyor belts to the substrate holding device unless the pair of conveyor belts (conveying units) is moved to the retracted position.

The present invention has been made to solve the above-described problems, and an object of the present invention is to mount an object to be mounted from the transport unit to the mount object holding unit without moving the transport unit to the retracted position. An object of the present invention is to provide a mounted work apparatus capable of delivering a product.

A mounted object working device according to one aspect of the present invention is disposed in a holding member that holds a mounted object, a conveyance unit that conveys the holding member, and a conveyance path that includes the conveyance unit, and the A holding object holding unit that holds the mounting object and moves the held mounting object, and a head unit that performs a predetermined operation on the mounting object held by the mounting object holding unit. The member holds the mounted object, the first holding member held by the mounted object holding part, the second holding member supported by the transport part while holding the first holding member in a separable manner, The first holding member held by the mounting object holding portion is moved along the carrying direction with respect to the second holding member held by the carrying portion when a predetermined operation is performed on the mounted object by the head unit. Move relatively By, from the second holding member supported by the transport unit, configured to separate the first holding member held by the mounting-holding portion.

In the mounted object working apparatus according to one aspect of the present invention, as described above, the holding member that holds the mounted object is provided, and the holding member is held by the mounted object holding part while holding the mounted object. The first holding member is configured to include a first holding member that is separable and a second holding member that is supported by the transport unit. And when performing a predetermined | prescribed operation | work to a to-be-mounted object with a head unit, the 1st holding member hold | maintained by the to-be-mounted object holding | maintenance part is along a conveyance direction with respect to the 2nd holding member supported by the conveyance part. By relatively moving, the first holding member held by the mounting object holding unit is separated from the second holding member supported by the transport unit. Accordingly, the mounted object (first holding member) can be delivered from the conveying unit to the mounted object holding unit without moving the conveying unit to the retracted position. Further, the first holding member held by the mounting object holding unit is moved by the amount of the separation of the second holding member between the first holding member separated from the second holding member and the transport unit. Space can be secured. As a result, the first holding member (mounting object) can be moved by the mounted object holding part without colliding with the conveying part without moving the conveying part to the retracted position. In addition, by transporting the mounted object while being held by the holding member, it is not necessary to provide a held part for holding the mounted object itself by the transfer part or the mounted object holding part. It is possible to prevent the shape of the mounted object from becoming complicated.

In the mounted work apparatus according to the above aspect, the first holding member is preferably separated from the second holding member by moving the second holding member along the carrying direction by the carrying unit. ing. If comprised in this way, a 1st holding member can be isolate | separated from a 2nd holding member using the drive force of the conveyance part which conveys a 2nd holding member. As a result, it is possible to prevent the configuration for separating the first holding member from the second holding member from becoming complicated.

In this case, preferably, the first holding member is separated from the second holding member by moving the second holding member to the upstream side in the transport direction or the downstream side in the transport direction by the transport unit. If comprised in this way, when moving a 2nd holding member to the upstream of a conveyance direction, the area | region where the to-be-mounted object (holding member) which completed the predetermined | prescribed operation | work waits in the downstream of a conveyance direction is ensured. can do. In this case, if the mounted object for which the predetermined work has been completed cannot be carried out, the next mounted object is brought into the secured area while the next mounted object is loaded while waiting for the mounted object for which the predetermined work has been completed. Predetermined work can be performed on objects. As a result, it is possible to prevent the next mounted object from being carried in due to the fact that the mounted object for which the predetermined work has been completed cannot be carried out, thereby preventing the production of the mounted object from being delayed. Further, when the second holding member is moved to the downstream side in the transport direction, an area in which the next mounted object (holding member) stands by can be secured on the upstream side in the transport direction. In this case, since the next mounted object can be brought into standby in the secured area, the time required for producing the mounted object can be shortened accordingly.

In the mounted object working device according to the above aspect, preferably, when the first holding member is separated from the second holding member, the first holding member is lifted from the second holding member by lifting the first holding member from the second holding member. The first holding member is configured to move relative to the second holding member in the transport direction in a state of being separated upward. If comprised in this way, unlike the case where the 1st holding member and the 2nd holding member are in contact, the 1st holding member is moved relatively along the conveyance direction to the 2nd holding member. It is possible to prevent friction between the two holding members and the first holding member. As a result, the first holding member can be easily separated from the second holding member.

In the mounted object working device according to the above aspect, the mounted object holding part preferably includes a plurality of fixing parts that hold and fix the first holding member, and separates the first holding member from the second holding member. In the case where the first holding member is held and fixed by the plurality of fixing portions of the mounted object holding portion, the first holding member is moved relative to the second holding member along the transport direction. It is configured to let you. If comprised in this way, a 1st holding member can be moved relatively with respect to a 2nd holding member in the state which hold | maintained the 1st holding member firmly with the some fixing | fixed part of the to-be-mounted object holding part. Therefore, it can suppress that the 1st holding member hold | maintained at the to-be-mounted object holding | maintenance part falls from a to-be-mounted object holding part during a movement.

In the mounted object working apparatus according to the above aspect, preferably, the second holding member includes a first notch portion or a first holding member that is disposed upstream of the first holding member and that opens to the upstream side in the transport direction. It has a 2nd notch part which is arranged and opens in the lower stream side of the conveyance direction. With this configuration, when the second holding member has the first cutout portion, the first holding member and the first holding member are held via the first cutout portion on the upstream side in the transport direction. Since the mounted object holding portion to be moved can be moved to the outside of the second holding member, the first holding member can be reliably separated from the second holding member. Further, when the second holding member has the second cutout portion, the mounted object holding that holds the first holding member and the first holding member via the second cutout portion on the downstream side in the transport direction. Since the portion can be moved to the outside of the second holding member, the first holding member can be reliably separated from the second holding member.

In the mounted object working device according to the above aspect, the second holding member preferably has a receiving portion that supports the first holding member from below. If comprised in this way, a 1st holding member can be hold | maintained to a 2nd holding member only by mounting a 1st holding member in the receiving part of a 2nd holding member. As a result, the first holding member can be held by the second holding member with a simple configuration.

In this case, preferably, the first holding member has a stepped shape or a tapered shape, and the receiving portion of the second holding member has a stepped shape or a tapered shape so as to correspond to the first holding member. If comprised in this way, since a 1st holding member can be engage | inserted in the receiving part of a 2nd holding member, it suppresses that a 1st holding member displaces in a 2nd holding member during conveyance by a conveyance part. be able to. Further, when the receiving portions of the first holding member and the second holding member have a tapered shape, the first holding member can be guided (guided) to the receiving portion of the second holding member by the tapered shape, so that the separation is achieved. The first holding member thus made can be reliably returned to the receiving portion of the second holding member.

The mounted object working device according to the above aspect preferably further includes a position detection unit for detecting the position of the holding member when the holding member is stopped at the separation position. According to this configuration, the holding member can be accurately stopped at the separation position based on the detection result of the position detection unit. As a result, the first holding member of the holding member stopped at the separation position with high accuracy can be held with high accuracy by the mounting object holding portion.

According to the present invention, as described above, it is possible to provide a mounted object working apparatus capable of delivering an object to be mounted from the transfer part to the mounted object holding part without moving the transfer part to the retracted position. be able to.

It is a top view which shows the whole structure of the to-be-mounted object working apparatus of one Embodiment. It is a side view which shows the whole structure of the to-be-mounted object working apparatus of one Embodiment. It is a perspective view which shows the holding member containing the 1st holding member of one Embodiment, and the 2nd holding member opened to the upstream of a conveyance direction. It is a perspective view which shows the holding member containing the 1st holding member of one Embodiment, and the 2nd holding member opened to the downstream of a conveyance direction. It is a perspective view which shows the holding member containing the 1st holding member of one Embodiment and the 2nd holding member opened to both the upstream and downstream of a conveyance direction. It is a figure which shows the to-be-mounted object holding | maintenance part of the to-be-mounted object working apparatus of one Embodiment. It is a figure for demonstrating the isolation | separation operation | movement in the holding member containing the 1st holding member and the 2nd holding member opened to the upstream of a conveyance direction by the mounted object working apparatus of one Embodiment. It is a figure for demonstrating the isolation | separation operation | movement in the holding member containing the 1st holding member by the to-be-mounted object working apparatus of one Embodiment, and the 2nd holding member opened to the downstream of a conveyance direction. FIG. 7 is a first view for explaining a separation operation in a holding member including a first holding member and a second holding member that opens both on the upstream side and the downstream side in the transport direction by the mounted object working device of one embodiment. . FIG. 7 is a second view for explaining a separation operation in a holding member including a first holding member and a second holding member that opens both on the upstream side and the downstream side in the transport direction by the mounted object working device of one embodiment. . FIG. 9 is a diagram (A) to (C) for explaining an operation of lifting the first holding member from the second holding member by the mounted object working device of the embodiment. It is a flowchart for demonstrating the mounting process in the holding member containing the 1st holding member by the to-be-mounted work apparatus of one Embodiment, and the 2nd holding member opened to the upstream of a conveyance direction. It is the top view (A) and side view (B) for demonstrating step S2 of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S4 of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S5 of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S7 of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S8 and S9 of the flowchart shown in FIG. It is a flowchart for demonstrating the mounting process in the holding member containing the 1st holding member by the to-be-mounted work apparatus of one Embodiment, and the 2nd holding member opened to the downstream of a conveyance direction. It is the top view (A) and side view (B) for demonstrating step S5a of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S7a of the flowchart shown in FIG. It is a flowchart for demonstrating the mounting process in the holding member containing the 1st holding member by the to-be-mounted work apparatus of one Embodiment, and the 2nd holding member opened to both the upstream and downstream of a conveyance direction. It is the top view (A) and side view (B) for demonstrating step S5b of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S7b of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S11 of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S14 of the flowchart shown in FIG. It is the top view (A) and side view (B) for demonstrating step S16 of the flowchart shown in FIG. It is a perspective view which shows the holding member by the modification of one Embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the conveyance direction of the holding member 90 (mounting object P) is the X direction, the direction orthogonal to the X direction in the horizontal plane is the Y direction, and the vertical direction orthogonal to the horizontal plane is the Z direction. The upstream side in the transport direction is the X1 direction side, and the downstream side in the transport direction is the X2 direction side.

(Configuration of mounted work equipment)
First, with reference to FIG. 1 to FIG. 11, a configuration of an article work apparatus 100 according to an embodiment of the present invention will be described.

As shown in FIGS. 1 and 2, the mounted object working apparatus 100 is a component mounting apparatus that mounts a component E (electronic component) such as an IC, a transistor, a capacitor, and a resistor on a mounted object P such as a printed circuit board. is there.

In the mounted object working apparatus 100, as shown in FIGS. 3 to 5, the mounted object P has a three-dimensional shape as compared with the flat plate shape. A mounted object that needs to be moved along, rotated, or tilted. The mounted object P may have any shape as long as it has a three-dimensional shape as compared with the flat plate shape, and may have any number of mounted surfaces Pa. 3 to 5, as an example of the mounted object P, the mounted object P having a plurality of mounted surfaces Pa including the mounted surfaces Pa intersecting each other is illustrated. It should be noted that the object to be mounted P is not limited to the examples shown in FIGS. 3 to 5 and may not have the mounting surfaces Pa that intersect each other. The mounted object working apparatus 100 can mount the component E not only on the mounted object P having a three-dimensional shape compared to the flat plate shape, but also on a mounted object (not shown) having a flat plate shape. It is configured as follows.

In the to-be-mounted object working apparatus 100, the to-be-mounted object P is carried into the apparatus while being held by the holding member 90 for transfer, and is transferred. 3 to 5, three types of holding members 90 are shown. The three types of holding members 90 have substantially the same configuration. First, a configuration common to the three types of holding members 90 will be described.

The holding member 90 includes a first holding member 91 and a second holding member 92.

The first holding member 91 is configured to hold the mounted object P and to be held by the mounted object holding part 4 described later. In addition, the first holding member 91 is provided on the mounting portion 91a on which the mounted object P is mounted and fixed, and the lower portion of the mounting portion 91a and is held by the mounted object holding portion 4. Holding part 91b. Moreover, in the 1st holding member 91, the both ends of a Y direction have a taper shape which tapers gradually toward the downward direction (Z2 direction).

The second holding member 92 is configured to hold the first holding member 91 in a separable manner, and to be supported by the transport unit 1 described below at both ends in the Y direction. In the mounted object working apparatus 100, the mounted object P is conveyed while being held by the first holding member 91 coupled to the second holding member 92. In the mounted object working apparatus 100, the component E is mounted in a state where the mounted object P is held by the first holding member 91 separated from the second holding member 92. 3 to 5 show the state where the first holding member 91 and the second holding member 92 are separated for easy understanding.

Next, different configurations of the three types of holding members 90 will be described. Hereinafter, the second holding member 92 of the holding member 90 shown in FIGS. 3 to 5 will be described as second holding members 93 to 95, respectively.

As shown in FIG. 3, the second holding member 93 is provided with the first holding member 91, the cutout portion 93 a that opens to the upstream side (X1 direction side) in the transport direction, and the cutout portion 93 a, It has the receiving part 93b which supports the 1st holding member 91 from the downward direction. The receiving portion 93b is configured to support both ends of the first holding member 91 in the Y direction from below. The receiving portion 93b has a tapered shape that gradually tapers downward (in the Z2 direction) so as to correspond to the first holding member 91. The first holding member 91 is configured to fit into the notch 93 a of the second holding member 93. In addition, the first holding member 91 is fitted in the notch 93a of the second holding member 93 and is not restricted to move upstream and upward in the transport direction, while on the downstream side in the transport direction, Y1 direction, Y2 direction and downward movement are restricted. The notch 93a is an example of the “first notch” in the claims.

As shown in FIG. 4, the second holding member 94 is provided with a first holding member 91, a cutout portion 94 a that opens on the downstream side (X2 direction side) in the transport direction, and the cutout portion 94 a, It has the receiving part 94b which supports the 1st holding member 91 from the downward direction. The receiving portion 94b is configured to support both ends of the first holding member 91 in the Y direction from below. Further, the receiving portion 94b has a tapered shape that gradually tapers downward (in the Z2 direction) so as to correspond to the first holding member 91. The first holding member 91 is configured to fit into the notch 94 a of the second holding member 94. Further, the first holding member 91 is fitted in the notch portion 94a of the second holding member 94, and is not restricted from moving downstream and upward in the transport direction, while on the upstream side in the transport direction, Y1 direction, Y2 direction and downward movement are restricted. The notch 94a is an example of the “second notch” in the claims.

As shown in FIG. 5, the second holding member 95 is provided with a first holding member 91, a notch 95 a that opens on the upstream side (X1 direction side) in the transport direction, and the notch 95 a, It has the receiving part 95b which supports the 1st holding member 91 from the downward direction. The second holding member 95 is provided with a first holding member 91, and is provided in a notch portion 95 c that opens to the downstream side (X2 direction side) in the transport direction and the notch portion 95 c. The receiving portion 95d supports the lower portion from below. That is, the second holding member 95 is configured to hold the two first holding members 91 by the two

notches

95a and 95c. The

notches

95a and 95c are examples of the “first notch” and the “second notch” in the claims, respectively.

The receiving portion 95b (95d) is configured to support both ends of the first holding member 91 in the Y direction from below. Further, the receiving portion 95b (95d) has a tapered shape that gradually tapers downward (Z2 direction) so as to correspond to the first holding member 91. The first holding member 91 is configured to fit into the notch 95a (95c) of the second holding member 95. In addition, the first holding member 91 is fitted in the notch 95a of the second holding member 95, and is not restricted from moving upstream and upward in the transport direction, while on the downstream side in the transport direction, Y1 direction, Y2 direction and downward movement are restricted. Further, the first holding member 91 is fitted in the notch 95c of the second holding member 95, and is not restricted to move downstream and upward in the transport direction, while on the downstream side in the transport direction, Y1 direction, Y2 direction and downward movement are restricted. In the following description, the three types of second holding members 93 to 95 are referred to as second holding members 92 unless it is necessary to distinguish between them.

As shown in FIGS. 1 and 2, the mounted object working apparatus 100 includes a transport unit 1, a head unit 2, a head horizontal movement mechanism unit 3, a mounted object holding unit 4, a component imaging unit 5, A mark imaging unit 6, a position detection unit 7, and a control unit 8 are provided.

The transport unit 1 is a transport device that constitutes a single transport path 1a extending from the carry-in port to the carry-out port. Moreover, the conveyance part 1 is comprised so that the holding member 90 holding the to-be-mounted object P may be carried in, conveyed, and carried out. Specifically, the transport unit 1 has a pair of transport members 11 arranged at positions separated from each other in the Y direction, and the pair of transport members 11 causes the Y of the second holding member 92 of the holding member 90 to move. The holding member 90 is configured to be conveyed in the X direction while supporting both ends in the direction from below. The transport unit 1 is configured to transport the loaded holding member 90 to the separation position B1 and to stop at the separation position B1. The separation position B1 is a position where the holding member 90 is stopped in order to separate the first holding member 91 from the second holding member 92 of the holding member 90 in the mounted object working apparatus 100. This is the position where the holding unit 4 is disposed.

The head unit 2 is configured to perform a coating operation for applying a bonding member such as solder and a mounting operation for mounting the component E to the mounted object P held by the mounted object holding portion 4. Specifically, the head unit 2 includes one application head 21 and a plurality (five) of mounting heads 22. The plurality of mounting heads 22 have substantially the same configuration.

The coating head 21 is connected to a bonding member supply source (not shown), and is configured so that the bonding member supplied from the bonding member supply source can be discharged from the coating nozzle 21a mounted at the tip.

The mounting head 22 is connected to a vacuum generator (not shown), and can hold the component E by adsorbing it to the suction nozzle 22a attached to the tip by the negative pressure supplied from the vacuum generator. It is configured as follows. Further, the mounting head 22 is configured to be able to mount the component E on the mount P by releasing the holding (suction) of the component E. In the mounted object working apparatus 100, a plurality of tape feeders 100a for supplying components E mounted on the mounted object P are arranged on both sides in the Y direction (Y1 side and Y2 side). The mounting head 22 is configured to suck and hold the component E supplied from the tape feeder 100a.

The head unit 2 includes a plurality (six) of head vertical movement mechanisms 23 provided for each of the coating head 21 and the mounting head 22. The plurality of head vertical movement mechanisms 23 have substantially the same configuration. The head vertical movement mechanism unit 23 is configured to move the target head (the coating head 21 or the mounting head 22) in the vertical direction (Z direction) by a ball screw shaft mechanism. As a result, the coating head 21 is configured to be movable in the vertical direction between a lowered position that is a lowered position for applying the joining member and an elevated position that is a raised position so as not to apply the joining member. ing. The mounting head 22 is configured to be movable in the vertical direction between a lowered position that is a lowered position for holding the component E and a raised position that is a raised position for transferring the component E. ing.

The head horizontal movement mechanism unit 3 is configured to move the head unit 2 in the horizontal plane (in the XY plane) above the holding member 90 (mounting object P). Specifically, the head horizontal movement mechanism unit 3 includes an X-axis movement mechanism unit 31 and a pair of Y-axis movement mechanism units 32.

The X-axis moving mechanism unit 31 has a head unit 2 attached thereto, and is configured to move the head unit 2 in the X direction by a ball screw shaft mechanism. The pair of Y-axis moving mechanism sections 32 are provided with an X-axis moving mechanism section 31 and are configured to move the X-axis moving mechanism section 31 and the head unit 2 in the Y direction by a ball screw shaft mechanism. .

The mounted object holding unit 4 is disposed on the lower side (Z2 direction side) of the holding member 90 in the conveyance path 1 a configured by the conveyance unit 1, and the first holding member 91 of the holding member 90 is interposed therebetween. The mounted object P is configured to be held from below. Further, the mounted object holding portion 4 is configured to move the held mounted object P. Specifically, the mounted object holding portion 4 is configured to move, rotate, or incline the held mounted object P along the vertical direction (Z direction).

Specifically, as shown in FIG. 6, the mounted object holding part 4 includes an elevating mechanism part 41, a tilting mechanism part 42, a rotating mechanism part 43, and a holding part 44. In the mounted object holding part 4, the holding part 44 is attached to the rotating mechanism part 43, the rotating mechanism part 43 is attached to the tilting mechanism part 42, and the tilting mechanism part 42 is attached to the lifting mechanism part 41. Yes.

The elevating mechanism unit 41 includes a drive motor 41a, and is configured to move the workpiece P held by the holding unit 44 along the vertical direction (Z direction) by the driving force of the drive motor 41a. . The tilt mechanism unit 42 includes a drive motor 42a, and is configured to rotate the workpiece P held by the holding unit 44 around the rotation axis A1 extending along the horizontal direction by the driving force of the drive motor 42a. Has been. Accordingly, the tilt mechanism unit 42 is configured to tilt the mounted object P held by the holding unit 44. The rotation mechanism unit 43 includes a drive motor 43a, and rotates the workpiece P held by the holding unit 44 around the rotation axis A2 extending in a direction substantially orthogonal to the rotation axis A1 by the driving force of the drive motor 43a. It is configured to let you. The holding portion 44 is configured to hold the mount P from below (Z2 direction) via the first holding member 91 of the holding member 90. Specifically, the holding portion 44 includes a plurality of fixing portions 44a, and is configured to hold and fix the held portion 91b of the first holding member 91 of the holding member 90 by the plurality of fixing portions 44a. ing. The plurality of fixing portions 44a include a fixing position for holding and fixing the held portion 91b of the first holding member 91 of the holding member 90, and a retracted position where the holding portion 91b of the first holding member 91 of the holding member 90 is not held. It is configured to be movable between.

The component imaging unit 5 is a component recognition camera that images the component E attracted to the mounting head 22 prior to the mounting operation of the component E. The component imaging unit 5 is fixed on the upper surface of the base of the workpiece work apparatus 100, and is configured to image the component E sucked by the mounting head 22 from below the component E (Z2 direction). ing. Based on the imaging result of the component E by the component imaging unit 5, the control unit 8 is configured to acquire (recognize) the suction state (rotational posture and suction position with respect to the mounting head 22) of the component E.

The mark image pickup unit 6 is a mark recognition camera that picks up an image of a position recognition mark (not shown) attached to the workpiece P prior to the mounting operation of the component E. The position recognition mark is a mark for recognizing the position of the mount P. Based on the imaging result of the position recognition mark by the mark imaging unit 6, the control unit 8 is configured to acquire (recognize) an accurate position and orientation of the mounted object P. The mark imaging unit 6 is attached to the head unit 2 and is configured to be movable in the horizontal plane (in the XY plane) above the holding member 90 (mounting object P) together with the head unit 2. Yes.

The position detector 7 is configured by a laser displacement meter for detecting the position of the holding member 90 when the holding member 90 is stopped at the separation position B1. The position detector 7 is configured to detect the position of the holding member 90 in the transport path 1a by irradiating laser light from above the holding member 90 and receiving the reflected light. Based on the detection result of the position of the holding member 90, the control unit 8 is configured to control the transport unit 1 so that the holding member 90 stops at the separation position B1. The position detection unit 7 is attached to the head unit 2 and is configured to be movable with the head unit 2 in the horizontal plane (in the XY plane) above the holding member 90 (mounting object P). Yes.

The control unit 8 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and is a control circuit that controls the operation of the workpiece work apparatus 100. The control unit 8 controls operations of the transport unit 1, the head unit 2, the head vertical movement mechanism unit 23, the head horizontal movement mechanism unit 3, the component imaging unit 5, the mark imaging unit 6, the position detection unit 7, and the like according to the production program. Thereby, it is comprised so that the control which mounts the components E in the to-be-mounted object P may be performed.

(Configuration for holding member separation operation)
Here, in the present embodiment, as shown in FIGS. 7 to 10, when the control unit 8 performs the coating operation or the mounting operation by the head unit 2, the first holding is held by the mounted object holding unit 4. By moving the member 91 relative to the second holding member 92 supported by the transport unit 1 along the transport direction (X direction), from the second holding member 92 supported by the transport unit 1, Control is performed to separate the first holding member 91 held by the mounted object holding portion 4.

Specifically, first, the control unit 8 is configured to control the conveyance member 1 to transport the holding member 90 to the separation position B1 and to stop the separation member B1 at the separation position B1. At this time, the control unit 8 causes the position detection unit 7 to detect the position of the holding member 90 and controls the conveyance unit 1 based on the detection result of the position of the holding member 90 by the position detection unit 7, thereby holding the holding member. Control is performed to stop 90 at the separation position B1.

Further, the control unit 8 is configured to perform control to hold the first holding member 91 of the holding member 90 stopped at the separation position B1 by the mounting object holding unit 4. The control unit 8 is configured to move the second holding member 92 along the transport direction (X direction) by the transport unit 1 in a state where the first holding member 91 is held by the mounted object holding unit 4. ing. At this time, the control unit 8 is configured to perform control to move the second holding member 92 from the holding position B2 to the retracted position B3. The holding position B 2 is a position where the second holding member 92 can hold the first holding member 91. The retreat position B3 is a position where the second holding member 92 does not hinder the movement (movement, rotation, or inclination along the vertical direction) of the first holding member 91 by the mounted object holding portion 4. Thereby, in this embodiment, the control part 8 is comprised so that the control which isolate | separates the 1st holding member 91 from the 2nd holding member 92 may be performed. Further, the control unit 8 moves the second holding member 92 from the second holding member 92 to the first holding side by moving the second holding member 92 to the upstream side (X1 direction side) or the downstream side (X2 direction side) in the conveyance direction. It is comprised so that the control which isolate | separates the member 91 may be performed. Further, the control unit 8 is configured to perform the coating operation or the mounting operation by the head unit 2 in a state where the first holding member 91 is separated from the second holding member 92.

In the present embodiment, as shown in FIGS. 11A to 11C, the control unit 8 uses the mounted object holding unit 4 to separate the first holding member 91 from the second holding member 92. By lifting the first holding member 91 away from the second holding member 92 upward (Z1 direction), the first holding member 91 is moved along the transport direction (X direction) with respect to the second holding member 92. Are relatively moved.

Specifically, first, as shown in FIGS. 11A and 11B, the control unit 8 raises the holding unit 44 of the mounting object holding unit 4 by using the lifting mechanism unit 41 (see FIG. 6). The held portion 91b of the first holding member 91 is controlled to be held and fixed by the plurality of fixing portions 44a of the holding portion 44 of the mounted object holding portion 4. Further, as shown in FIG. 11C, the control unit 8 holds and holds the held portion 91b of the first holding member 91 by the plurality of fixing portions 44a of the holding portion 44 of the mounted object holding portion 4. In this state, the lifting mechanism 41 (see FIG. 6) is configured to perform control to raise the holding portion 44 of the mounted object holding portion 4. Thereby, the control part 8 is comprised so that the 1st holding member 91 may be lifted so that the 1st holding member 91 may leave | separate upwards from the 2nd holding member 92. As shown in FIG.

Further, the control unit 8 separates the first holding member 91 upward (Z1 direction) from the second holding member 92, and the first holding member 91 and the mounting object holding unit 4 are not in contact with the second holding member 92. In addition, the first holding member 91 is transported to the second holding member 92 in a state where the first holding member 91 is held and fixed by the plurality of fixing portions 44 a of the holding portion 44 of the mounted object holding portion 4. It is comprised so that it may move relatively along a direction (X direction).

In addition, when the application operation or the mounting operation by the head unit 2 is completed, the control unit 8 performs the second holding member 92 in a procedure opposite to the control for separating the first holding member 91 from the second holding member 92. Further, the first holding member 91 is controlled to be coupled. That is, first, the control unit 8 is configured to perform control for moving the second holding member 92 from the retracted position B3 to the holding position B2 by the transport unit 1. Further, the control unit 8 holds and holds the held portion 91b of the first holding member 91 by the plurality of fixing portions 44a of the holding portion 44 of the mounted object holding portion 4 and fixes the lifting mechanism portion 41 (FIG. 6). (See)), the holding unit 44 of the mounting object holding unit 4 is controlled to be lowered. Further, the control unit 8 is configured to perform control for releasing the holding of the held portion 91 b of the first holding member 91 by the plurality of fixing portions 44 a of the holding portion 44 of the mounted object holding portion 4. Accordingly, the control unit 8 is configured to perform control for coupling the first holding member 91 to the second holding member 92.

Next, a configuration relating to the separation operation of the holding member 90 in the three types of second holding members 93 to 95 will be described with reference to FIGS.

<In the case of the second holding member opening upstream in the transport direction>
In this case, as shown in FIG. 7, the control unit 8 causes the second holding member 93 having a notch portion 93 a that opens to the upstream side (X1 direction side) in the transport direction to move the second holding member 93 downstream in the transport direction. The first holding member 91 is controlled to be separated from the second holding member 93 by moving in the (X2 direction side). In addition, the control unit 8 separates the first holding member 91 from the second holding member 93 until the mounting work is completed on the mount P held by the separated first holding member 91. Then, control is carried out so that the next object to be mounted P (holding member 90) is carried into the standby area C1 secured on the upstream side in the transport direction and waits. Further, when the application operation or the mounting operation by the head unit 2 is completed, the control unit 8 moves the second holding member 93 to the upstream side in the conveying direction by the conveying unit 1, thereby causing the second holding member 93 to move. The first holding member 91 is configured to be coupled.

<In the case of the second holding member opening downstream in the transport direction>
In this case, as shown in FIG. 8, the control unit 8 causes the second holding member 94 having a notch portion 94 a that opens to the downstream side in the transport direction (X2 direction side) to be upstream of the transport direction by the transport unit 1. The first holding member 91 is controlled to be separated from the second holding member 94 by moving in the (X1 direction side). In addition, when the mounted object P (holding member 90) for which the mounting operation has been completed cannot be carried out, the control unit 8 places the mounted object P for which the mounting operation has been completed in the standby area C2 secured on the downstream side in the transport direction. It is configured to perform control for waiting (holding member 90). In addition, when the application operation or the mounting operation by the head unit 2 is completed, the control unit 8 moves the second holding member 94 to the second holding member 94 by moving the second holding member 94 to the downstream side in the conveyance direction. The first holding member 91 is configured to be coupled.

<In the case of the second holding member opening on both the upstream side and the downstream side in the transport direction>
In this case, first, as shown in FIG. 9, the control unit 8 moves the second holding member 95 to the upstream side in the conveyance direction (X1 direction side) by the conveyance unit 1, thereby moving the second holding member 95 from the second holding member 95. Control is performed to separate the first holding member 91 disposed on the X2 direction side. In addition, when the application operation or the mounting operation by the head unit 2 is completed, the control unit 8 moves the second holding member 95 to the downstream side (X2 direction side) in the conveyance direction by the conveyance unit 1, thereby The second holding member 95 is configured to perform control for coupling the first holding member 91 disposed on the X2 direction side.

Further, as shown in FIG. 10, the control unit 8 moves the second holding member 95 to the downstream side (X2 direction side) in the conveyance direction by the conveyance unit 1, thereby moving the second holding member 95 from the X1 direction side. It is comprised so that the control which isolate | separates the 1st holding member 91 arrange | positioned to may be performed. Further, the control unit 8 separates the first holding member 91 disposed on the X1 direction side from the second holding member 95 and then mounts it on the mounted object P held by the separated first holding member 91. In the waiting area C3 secured on the upstream side in the transport direction, the next mounted object P (holding member 90) is controlled to be placed on standby until the process is completed. Further, when the application operation or the mounting operation by the head unit 2 is completed, the control unit 8 moves the second holding member 95 to the upstream side (X1 direction side) in the conveyance direction by the conveyance unit 1, thereby The second holding member 95 is configured to perform control for coupling the first holding member 91 disposed on the X1 direction side.

(Implementation process)
Next, with reference to FIGS. 12 to 26, the mounting process performed by the workpiece work apparatus 100 will be described with reference to flowcharts. Each process of the flowchart is performed by the control unit 8. Here, first, referring to the flowchart shown in FIG. 12, a holding member including a first holding member 91 and a second holding member 93 having a notch 93a that opens to the upstream side (X1 direction side) in the transport direction. The mounting process at 90 will be described.

<In the case of the second holding member opening upstream in the transport direction>
As shown in FIG. 12, first, in step S 1, the holding member 90 (mounting object P) is carried in by the transport unit 1. If the holding member 90 has already been carried in, the process of step S1 need not be performed.

Next, in step S2, as shown in FIG. 13, the holding member 90 is transported to the separation position B1 by the transport unit 1.

Next, in step S3, the position of the holding member 90 is detected by the position detector 7. In step S3, based on the detection result of the position of the holding member 90 by the position detector 7, the holding member 90 is stopped at the separation position B1.

Next, in step S4, as shown in FIG. 14, the first holding member 91 is held and lifted by the mounted object holding portion 4. Specifically, in step S 4, the holding unit 44 of the mounted object holding unit 4 is raised by the lifting mechanism 41 of the mounted object holding unit 4, and the first fixing unit 44 a of the holding unit 44 performs the first operation. The held portion 91b of the holding member 91 is held and fixed. In step S 14, the held portion 91 b of the first holding member 91 is lifted by the mounted object holding portion 4 while being held and fixed by the plurality of fixing portions 44 a of the holding portion 44.

Next, in step S5, the second holding member 93 is moved from the holding position B2 to the retracted position B3 by moving the second holding member 93 to the upstream side (X1 direction side) in the transport direction as shown in FIG. The holding member 93 is moved. In the mounted work apparatus 100, the first holding member 91 is separated from the second holding member 93 by the processes of steps S4 and S5.

Next, in step S6, the first holding member 91 is separated from the second holding member 93, and the mounted object P is held by the mounted object holding part 4 via the first holding member 91. A coating operation or mounting operation is performed by the head unit 2. In step S 6, the mounted object P is mounted by the mounted object holding portion 4 so that each mounted surface Pa of the mounted object P is in a posture and position where the coating operation or the mounting operation can be performed by the head unit 2. Are moved along the vertical direction, rotated or tilted. For example, the mounted object P is rotated or inclined so that each mounted surface Pa of the mounted object P is substantially parallel to the horizontal plane. In addition, for example, the mounting object P is moved in the vertical direction so that each mounting surface Pa of the mounting object P becomes a height position where the head unit 2 can perform the coating operation or the mounting operation. The When the application operation or the mounting operation to the mounted object P is completed, the first holding member 91 is disposed at a position where the first holding member 91 can be coupled to the second holding member 93 by the mounted object holding portion 4.

Further, in steps S5 and S6, after the first holding member 91 is separated from the second holding member 93, the mounting work is completed on the mounted object P held by the separated first holding member 91. In addition, the next object to be mounted P (holding member 90) is loaded into the standby area C1 secured on the upstream side in the transport direction, and waits.

Next, in step S7, as shown in FIG. 16, the second holding member 93 is moved to the upstream side (X1 direction side) in the transport direction by the transport unit 1, thereby the second position from the retreat position B3 to the hold position B2. The holding member 93 is moved.

Next, in step S8, as shown in FIG. 17, the first holding member 91 is lowered by the mounted object holding part 4, and the holding of the first holding member 91 by the mounted object holding part 4 is released. Specifically, in step S 8, the lifting mechanism 41 of the mounted object holding unit 4 lowers the first holding member 91 held by the holding unit 44 of the mounted object holding unit 4 together with the holding unit 44. The holding of the held portion 91b of the first holding member 91 by the plurality of fixing portions 44a of the holding portion 44 is released. In the mounted work apparatus 100, the first holding member 91 is coupled to the second holding member 93 by the processes of steps S7 and S8.

Next, in step S 9, the holding member 90 is carried out by the transport unit 1. Then, the mounting process is terminated.

<In the case of the second holding member opening downstream in the transport direction>
Next, referring to the flowchart shown in FIG. 18, in the holding member 90 including the first holding member 91 and the second holding member 94 having a notch 94 a that opens to the downstream side (X2 direction side) in the transport direction. The mounting process will be described. In addition, about the process similar to the flowchart shown in FIG. 12, the same code | symbol is attached | subjected and shown in the figure, and the detailed description is abbreviate | omitted.

First, after the processing in steps S1 to S4 is performed, in step S5a, as shown in FIG. 19, the second holding member 94 is moved to the upstream side (X1 direction side) in the transport direction by the transport unit 1. The second holding member 94 is moved from the holding position B2 to the retracted position B3.

Next, after the process of step S6 is performed, in step S7a, as shown in FIG. 20, by moving the second holding member 94 to the downstream side (X2 direction side) in the transport direction by the transport unit 1, The second holding member 94 is moved from the retracted position B3 to the holding position B2. And after the process of step S8 and S9 is performed, a mounting process is complete | finished.

<In the case of the second holding member opening on both the upstream side and the downstream side in the transport direction>
Next, referring to the flowchart shown in FIG. 21, the first holding member 91, a notch 95a that opens on the upstream side in the transport direction (X1 direction side), and the downstream side in the transport direction (X2 direction side). A mounting process in the holding member 90 including the second holding member 95 having the notch 95c will be described. In addition, about the process similar to the flowchart shown in FIG. 12, the same code | symbol is attached | subjected and shown in the figure, and the detailed description is abbreviate | omitted.

First, after the processing in steps S1 to S4 is performed, in step S5b, as shown in FIG. 22, the transport unit 1 moves the second holding member 95 to the upstream side (X1 direction side) in the transport direction. The second holding member 95 is moved from the holding position B2 to the retracted position B3. In Steps S4 and S5b, the first holding member 91 disposed on the X2 direction side is separated from the second holding member 95.

Next, after the process of step S6 is performed, in step S7b, as shown in FIG. 23, the transport unit 1 moves the second holding member 95 to the downstream side (X2 direction side) in the transport direction. The second holding member 95 is moved from the retracted position B3 to the holding position B2. In steps S7b and S8, the first holding member 91 disposed on the X2 direction side is coupled to the second holding member 95.

Next, after the processing of step S8 is performed, in step S11, as shown in FIG. 24, the holding member 90 is separated by the conveying unit 1 from the separation position B1 of the first holding member 91 arranged on the X1 direction side. Moved to.

Next, in step S12, the position of the holding member 90 is detected by the position detector 7. In Step S12, based on the detection result of the position of the holding member 90 by the position detection unit 7, the holding member 90 is stopped at the separation position B1 of the first holding member 91 disposed on the X1 direction side.

Next, in step S13, the first holding member 91 is held and lifted by the mounted object holding portion 4 in the same manner as in step S4.

Next, in step S14, as shown in FIG. 25, the second holding member 95 is moved from the holding position B2 to the retracted position B3 by moving the second holding member 95 to the downstream side in the conveying direction (X2 direction side). The holding member 95 is moved. In steps S13 and S14, the first holding member 91 arranged on the X1 direction side is separated from the second holding member 95.

Next, in step S15, as in step S6, a coating operation or a mounting operation by the head unit 2 is performed.

Next, in step S16, as shown in FIG. 26, the second holding member 95 is moved from the retracting position B3 to the holding position B2 by moving the second holding member 95 to the upstream side (X1 direction side) in the transport direction as shown in FIG. The holding member 95 is moved.

Next, in step S17, as in step S8, the first holding member 91 is lowered by the mounted object holding part 4, and the holding of the first holding member 91 by the mounted object holding part 4 is released. In steps S16 and S17, the first holding member 91 disposed on the X2 direction side is coupled to the second holding member 95.

Next, in step S18, the holding member 90 is carried out by the transport unit 1 in the same manner as in step S9. Then, the mounting process is terminated.

(Effect of embodiment)
In the present embodiment, the following effects can be obtained.

In the present embodiment, as described above, the holding member 90 that holds the mounted object P is provided, and the holding member 90 holds the mounted object P and is held by the mounted object holding part 4. While holding the holding member 91 and the 1st holding member 91 so that separation is possible, it comprises so that the 2nd holding member 92 supported by the conveyance part 1 may be included. When the mounting object working device 100 performs the application work or the mounting work on the mounting object P by the head unit 2, the first holding member 91 held by the mounting object holding part 4 is transferred by the transport part 1. The first holding held by the mounting object holding unit 4 from the second holding member 92 supported by the transfer unit 1 by moving relative to the supported second holding member 92 along the transfer direction. The member 91 is configured to be separated. Thereby, the mounted object P (first holding member 91) can be delivered from the transport unit 1 to the mounted object holding part 4 without moving the conveying part 1 to the retracted position. In addition, the first holding member 92 held by the mounting object holder 4 is the same as the second holding member 92 separated between the first holding member 91 separated from the second holding member 92 and the transport unit 1. A space for moving the member 91 can be secured. As a result, the first holding member 91 (mounting object P) is moved by the mounted object holding part 4 without colliding with the conveying part 1 (along the vertical direction) without moving the conveying part 1 to the retracted position. Movement, rotation around the rotation axis A2, or inclination around the rotation axis A1). Moreover, it is necessary to provide a to-be-mounted object P itself to be held by the transfer unit 1 or the to-be-mounted object holding part 4 by transferring the to-be-mounted object P while being held by the holding member 90. Since there is no, it can suppress that the shape of the to-be-mounted object P becomes complicated.

In the present embodiment, as described above, the workpiece holding device 100 is moved from the second holding member 92 to the first holding member 92 by moving the second holding member 92 along the carrying direction by the carrying unit 1. The member 91 is configured to be separated. Accordingly, the first holding member 91 can be separated from the second holding member 92 by using the driving force of the transport unit 1 that transports the second holding member 92. As a result, it is possible to prevent the configuration for separating the first holding member 91 from the second holding member 92 from becoming complicated.

Further, in the present embodiment, as described above, the second holding member 92 is moved by moving the second holding member 92 to the upstream side in the transport direction or the downstream side in the transport direction by the transport unit 1. The first holding member 91 is configured to be separated from the member 92. Thereby, when moving the 2nd holding member 92 to the upstream of a conveyance direction, the area | region (standby area | region) where the to-be-mounted object P (holding member 90) which completed the predetermined | prescribed operation | work in the downstream of a conveyance direction waits. C2) can be secured. In this case, when the mounting object P for which the predetermined work has been completed cannot be carried out, the next mounting object P is carried into the secured area while the next mounting object P is loaded while waiting for the mounting object P for which the predetermined work has been completed. The predetermined work can be performed on the mounted object P. As a result, it is possible to suppress the production of the mounting object P from being delayed due to the fact that the next mounting object P cannot be carried in due to the fact that the mounting object P for which the predetermined work has been completed cannot be carried out. it can. Further, when the second holding member 92 is moved downstream in the transport direction, areas (standby areas C1 and C3) in which the next object to be mounted P (holding member 90) waits on the upstream side in the transport direction. Can be secured. In this case, since the next mounting object P can be brought into standby in the secured area, the time required for production of the mounting object P can be shortened accordingly.

Further, in the present embodiment, as described above, when the mounting object working device 100 is separated from the second holding member 92 by the first holding member 91, the mounting object working apparatus 100 is lifted by the mounting object holding portion 4, thereby The first holding member 91 is configured to move relative to the second holding member 92 in the transport direction in a state where the first holding member 91 is separated upward from the holding member 92. Thus, unlike the case where the first holding member 91 is moved relative to the second holding member 92 in the conveying direction while the first holding member 91 and the second holding member 92 are in contact with each other, It is possible to prevent friction between the second holding member 92 and the first holding member 91. As a result, the first holding member 91 can be easily separated from the second holding member 92.

In the present embodiment, as described above, when the mounting object working apparatus 100 separates the first holding member 91 from the second holding member 92, the plurality of holding parts 44 of the mounted object holding part 4 are arranged. The first holding member 91 is configured to move relative to the second holding member 92 in the transport direction in a state where the first holding member 91 is held and fixed by the fixing portion 44a. Thus, the first holding member 91 is relatively held with respect to the second holding member 92 in a state where the first holding member 91 is firmly held by the plurality of fixing portions 44 a of the holding portion 44 of the mounted object holding portion 4. Since it can be moved, it can suppress that the 1st holding member 91 hold | maintained at the to-be-mounted object holding | maintenance part 4 falls from the to-be-mounted object holding part 4 during a movement.

Further, in the present embodiment, as described above, the second holding member 93 (95) has the notch portion 93a (95a) in which the first holding member 91 is disposed and opened to the upstream side in the transport direction. Further, the second holding member 94 (95) has a notch portion 94a (95c) in which the first holding member 91 is disposed and opened to the downstream side in the transport direction. Thereby, when the 2nd holding member 93 (95) has the notch part 93a (95a), the 1st holding member 91 and the 1st through the notch part 93a (95a) in the upstream of a conveyance direction. Since the mounted object holding portion 4 holding the first holding member 91 can be moved to the outside of the second holding member 93 (95), the first holding member 91 can be securely moved from the second holding member 93 (95). Can be separated. Further, when the second holding member 94 has the cutout portion 94a (95c), the first holding member 91 and the first holding member 91 are interposed via the cutout portion 94a (95c) on the downstream side in the transport direction. Since the mounted object holding portion 4 that holds the second holding member 94 can be moved to the outside of the second holding member 94 (95), the first holding member 91 can be reliably separated from the second holding member 94 (95). Can do.

In the present embodiment, as described above, the second holding member 93 (94, 95) includes the receiving portion 93b (94b, 95b, 95d) that supports the first holding member 91 from below. Accordingly, the first holding member 91 is simply placed on the receiving portion 93b (94b, 95b, 95d) of the second holding member 93 (94, 95), and the first holding member 91 (94, 95) is moved to the first holding member 93 (94, 95). The holding member 91 can be held. As a result, the first holding member 91 can be held by the second holding member 93 (94, 95) with a simple configuration.

In the present embodiment, as described above, the first holding member 91 has a tapered shape. The receiving portions 93 b (94 b, 95 b, 95 d) of the second holding member 93 (94, 95) have a tapered shape so as to correspond to the first holding member 91. As a result, the first holding member 91 can be fitted into the receiving portion 93b (94b, 95b, 95d) of the second holding member 93 (94, 95). In (94, 95), the first holding member 91 can be prevented from being displaced. In addition, since the receiving portions 93b (94b, 95b, 95d) of the first holding member 91 and the second holding member 93 (94, 95) have a tapered shape, the first holding member 91 is moved to the second holding member by the tapered shape. 93 (94, 95) can be guided (guided) to the receiving portion 93b (94b, 95b, 95d), so that the separated first holding member 91 is received by the second holding member 93 (94, 95). It is possible to reliably return to 93b (94b, 95b, 95d).

Further, in the present embodiment, as described above, the mounted object working apparatus 100 includes the position detection unit 7 for detecting the position of the holding member 90 when the holding member 90 is stopped at the separation position B1. Thereby, based on the detection result of the position detector 7, the holding member 90 can be accurately stopped at the separation position B1. As a result, the first holding member 91 of the holding member 90 stopped at the separation position B1 with high accuracy can be held with high accuracy by the mounted object holding portion 4.

[Modification]
In addition, it should be thought that embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is shown not by the above description of the embodiment but by the scope of claims, and further includes all modifications (modifications) within the meaning and scope equivalent to the scope of claims.

For example, in the above-described embodiment, the example in which the present invention is applied to the mounted work apparatus that performs the coating work and the mounting work by the head unit is shown, but the present invention is not limited to this. The present invention may be applied to a mounted work apparatus that performs only one of a coating operation and a mounting operation using a head unit. In addition, the present invention may be applied to a mounted work apparatus that performs work other than coating work and mounting work with the head unit.

Moreover, in the said embodiment, the to-be-mounted work apparatus shows the example comprised so that a 1st holding member may be isolate | separated from a 2nd holding member by moving a 2nd holding member along a conveyance direction. However, the present invention is not limited to this. In the present invention, the workpiece work device may be configured to separate the first holding member from the second holding member by moving the first holding member along the transport direction. Moreover, even if the mounted object working apparatus is configured to separate the first holding member from the second holding member by moving both the first holding member and the second holding member along the transport direction. Good.

Moreover, in the said embodiment, the mounted object working apparatus is relative to the 2nd holding member with respect to the 2nd holding member along the conveyance direction in the state which spaced apart the 1st holding member from the 2nd holding member. Although an example configured to be moved to is shown, the present invention is not limited to this. For example, the mounting object working device moves the first holding member relative to the second holding member along the transport direction in a state where the second holding member and the first holding member are in contact with each other. It may be configured.

Moreover, in the said embodiment, although the receiving part of the 1st holding member and the 2nd holding member showed the example which has a taper shape, this invention is not limited to this. In the present invention, the receiving portions of the first holding member and the second holding member may have a shape other than the tapered shape. For example, in the modification shown in FIG. 27, the first holding member 191 has a stepped shape. In addition, the receiving portion 192 b of the second holding member 192 has a stepped shape so as to correspond to the first holding member 191. The first holding member 191 is configured to fit into the notch 192a of the second holding member 192. The notch 192a is an example of the “first notch” in the claims.

In the above-described embodiment, an example in which the position detection unit is configured by a laser displacement meter has been described, but the present invention is not limited to this. In the present invention, the position detection unit may be configured by a position detection unit other than the laser displacement meter.

DESCRIPTION OF SYMBOLS 1 Conveyance part 2 Head unit 4 Mounted object holding part 7 Position detection part 44a Fixing part 90 Holding member 91,191 First holding

member

92,93,94,95,192

Second holding member

93a, 95a, 192a Notch (First notch)
94a, 95c Notch (second notch)
93b, 94b, 95b, 95d, 192b Receiving part 100 Mounted object working device E Part P Mounted object

Claims

A holding member for holding the object to be mounted (P);
A transport section (1) for transporting the holding member (90);
A mounted object holding part (4) which is arranged in a transfer path (1a) constituted by the transfer part, holds the mounted object via the holding member, and moves the held mounted object; ,
A head unit (2) for performing a predetermined operation on the mounted object held by the mounted object holding part;
The holding member holds the mounted object, holds the first holding member (91, 191) held by the mounted object holding part, and the first holding member in a separable manner, and also carries the transport A second holding member (92, 93, 94, 95, 192) supported by the section,
When the predetermined operation is performed on the mounted object by the head unit, the first holding member held by the mounted object holding part is set against the second holding member supported by the transport part. The first holding member held by the mount holding unit is separated from the second holding member supported by the transfer unit by relatively moving along the transfer direction. The mounted work device.
The mounted state according to claim 1, wherein the first holding member is separated from the second holding member by moving the second holding member along the carrying direction by the carrying unit. Product work equipment.
The first holding member is separated from the second holding member by moving the second holding member to the upstream side in the transport direction or the downstream side in the transport direction by the transport unit. The mounted work apparatus according to claim 2.
When the first holding member is separated from the second holding member, the first holding member is lifted by the mounting object holding portion, and the first holding member is separated upward from the second holding member. The mounted object working apparatus according to any one of claims 1 to 3, wherein the holding member is configured to move relative to the second holding member along the transport direction.
The mounting object holding portion includes a plurality of fixing portions (44a) for holding and fixing the first holding member,
When the first holding member is separated from the second holding member, the first holding member is held and fixed by the plurality of fixing portions of the mounting object holding portion. The mounted object working apparatus according to any one of claims 1 to 4, wherein the mounted work apparatus is configured to move relative to the second holding member along the transport direction.
In the second holding member, the first holding member is arranged, the first notch (93a, 95a, 192a) opening to the upstream side in the transport direction, or the first holding member is arranged, The mounted object working apparatus according to any one of claims 1 to 5, further comprising a second notch (94a, 95c) that opens to a downstream side in the transport direction.
The mounted work according to any one of claims 1 to 6, wherein the second holding member has a receiving portion (93b, 94b, 95b, 95d, 192b) for supporting the first holding member from below. apparatus.
The first holding member has a stepped shape or a tapered shape,
The mounting object working apparatus according to claim 7, wherein the receiving portion of the second holding member has a stepped shape or a tapered shape so as to correspond to the first holding member.
The mounted object working apparatus according to any one of claims 1 to 8, further comprising a position detection unit (7) for detecting the position of the holding member when the holding member is stopped at the separation position. .