JP6486506B2 - Mounted work equipment - Google Patents

Description

  The present invention relates to a mounted object working apparatus, and more particularly to a mounted object working apparatus including a mounted object holding unit that holds a mounted object on which a component is mounted.

  2. Description of the Related Art Conventionally, a mounted object working apparatus including a mounted object holding unit that holds a mounted object on which a component is mounted is known. For example, Japanese Patent No. 572469 discloses a component mounting apparatus (mounted object working apparatus) including a substrate holding apparatus (mounted object holding unit), a component transfer apparatus (working unit), and a base. ing. The board holding device is configured to hold a board (mounting object) on which components are mounted from below. The substrate holding device is disposed on the upper surface of the base. The component transfer apparatus is configured to perform a component mounting operation on the substrate held by the mounted object holding unit.

Japanese Patent No. 5721469

  However, in the above-mentioned Japanese Patent No. 5721469, since the substrate holding device is arranged on the upper surface of the base, it is necessary to secure a space for arranging the substrate holding device on the upper side of the base. For this reason, there exists a problem that the size of the height direction of a to-be-mounted work apparatus will become large.

  The present invention has been made in order to solve the above-described problems, and one object of the present invention is to suppress an increase in the size in the height direction of the workpiece work apparatus. It is to provide a mounted work apparatus.

  A mounted object working apparatus according to an aspect of the present invention has a mounted object holding unit that includes a holding unit that holds a mounted object on which a component is mounted from below, and a driving unit that drives the holding unit up and down, tilts, or rotates. A unit, a working unit for performing work on the mounted object held by the holding part of the mounted object holding unit, a base having a holding unit accommodation hole for accommodating the mounted object holding unit, And a housing member that is provided with a bottom and is fixed to the base so as to close the holding unit housing hole.

  In the mounted object working apparatus according to one aspect of the present invention, as described above, the base having the holding unit accommodation hole in which the mounted object holding unit is accommodated is provided. As a result, the mounted object holding unit is accommodated in the holding unit accommodating hole, so that the size in the height direction of the mounted object working device is larger than when the mounted object holding unit is arranged on the upper surface of the base. Can be suppressed. In addition, it is easy to create a relatively large mounted object holding unit simply by opening a holding unit accommodation hole in an existing mounted object work device and remodeling the minor base to change the arrangement of wiring etc. in the base. Can be attached to the base.

  In the mounted object working device according to the above aspect, the holding unit is preferably configured to hold the mounted object in a tiltable manner. If comprised in this way, when a to-be-mounted object has the mounting surface inclined with respect to the horizontal, it will work by arrange | positioning the to-be-mounted object's mounting surface horizontally by inclining a to-be-mounted object. be able to.

  In the mounted object working apparatus according to the above aspect, the holding unit is preferably configured to hold the mounted object so as to be movable in the vertical direction. If comprised in this way, compared with the case where a to-be-mounted object holding | maintenance unit is arrange | positioned on the upper surface of a base, since a holding | maintenance part can be arrange | positioned at a low height position, a holding | maintenance part is moved upwards. In particular, it is possible to suppress the holding unit from interfering with the transport of the object to be mounted or the work of the working unit.

  The mounted object working apparatus according to the above aspect, preferably further includes a mounting part on which the mounted object is mounted, and the holding unit supports the mounting part from below through the mounting part. It is comprised so that a to-be-mounted object may be hold | maintained. If comprised in this way, even if a to-be-mounted object is a shape where it is difficult to hold | maintain directly with a holding | maintenance part, a to-be-mounted object can be easily hold | maintained via a mounting part. Further, since the mounting portion is supported from below by the holding portion, the holding portion can be held without hindering the work from above on the mounted object on the mounting portion of the working portion. At the same time, the held portion can be held in a stable state by the holding portion via the placement portion.

  In the configuration in which the holding unit holds the mounting object so as to be movable in the vertical direction, preferably, the mounting object holding unit is configured such that the holding unit rises and protrudes from the holding unit accommodation hole, so that the holding unit is held by the holding unit. From the first state housed in the housing hole to the second state in which the object to be mounted can be held by the holding portion, and the holding portion descends to change from the second state to the first state. It is configured. If comprised in this way, except the time of hold | maintaining a to-be-mounted object, since a holding | maintenance part can be made into a 1st state (accommodating state), a holding | maintenance part interferes with conveyance of a to-be-mounted object, the operation | work of a working part, etc. Can be suppressed.

  In the mounted object working device according to the above aspect, the mounted object holding unit preferably has a holding unit fixing part for attaching to the upper surface of the base, and the housing member opens upward together with the holding unit fixing part. It is formed in a concave shape and is configured to close the holding unit accommodation hole by being accommodated in the holding unit accommodation hole together with the holding unit fixing portion. If comprised in this way, since a holding | maintenance unit accommodation hole is obstruct | occluded by an accommodation member, it can prevent that components pass through a holding | maintenance unit accommodation hole and under a base. In addition, since the holding unit housing hole is closed by the holding unit fixing portion and the housing member, the component can be held in the housing member even if the component falls into the holding unit housing hole. For this reason, it can suppress that components infiltrate into a base and are lost. Further, the mounting unit holding unit can be easily fixed to the base by the holding unit fixing portion.

  In the mounted object working apparatus according to the above aspect, the mounted object transporting section preferably has a mounted object transporting section and a flat support unit fixing section for mounting on the upper surface of the base, A mounting object supporting unit that supports the mounting object to be transported to the transport unit from below, and the support unit fixing part is configured to be attached to the upper surface of the base so as to close the holding unit accommodation hole. ing. If comprised in this way, since a holding | maintenance unit accommodation hole is obstruct | occluded by the support unit fixing | fixed part, it can prevent reliably that components fall under a base through a holding | maintenance unit accommodation hole. Further, the mounting object support unit can be easily fixed to the base by the support unit fixing portion.

  In the configuration in which the mounted object holding unit has the holding unit fixing part, preferably, the mounted object transporting part has a mounted object transporting part for transporting the mounted object, and a flat support unit fixing part for attaching to the upper surface of the base. A mounting object supporting unit that supports the mounting object transported to the mounting object transport part from below, and the support unit fixing part is attached to the upper surface of the base so as to close the holding unit accommodation hole. The mounted object support unit is configured such that the mounted object holding unit and the accommodating member are attached to the upper surface of the base, and the mounted object holding unit and the accommodating member are detached from the upper surface of the base. In any of the above states, the support unit fixing portion can be attached to the upper surface of the base. If comprised in this way, use of a to-be-mounted object holding unit and use of a to-be-mounted object support unit can be switched easily. Further, when mounting the mounted object support unit to the base, the mounted object support unit can be mounted to the base without removing the mounted object holding unit and the housing member. Therefore, workability at the time of mounting the mounting object support unit can be improved.

  ADVANTAGE OF THE INVENTION According to this invention, the mounting object working apparatus which can suppress that the size of the height direction of a mounting object working apparatus becomes large as mentioned above can be provided.

It is a typical front view which shows the whole structure in the 1st attachment structure of the to-be-mounted work apparatus by one Embodiment of this invention. It is a typical top view which shows the whole structure in the 1st attachment structure of the to-be-mounted object working apparatus of one Embodiment. It is a typical side view which shows the whole structure in the 1st attachment structure of the to-be-mounted object working apparatus of one Embodiment. It is a figure which shows the to-be-mounted object worked by the to-be-mounted object working apparatus of one Embodiment, FIG. 4 (A) is a top view which shows a to-be-mounted object, and FIG. FIG. 4C is a side view showing the mounted object. It is a perspective view which shows the to-be-mounted object worked with the to-be-mounted object working apparatus of one Embodiment. It is a perspective view 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 raising / lowering state of a holding | maintenance part, FIG. 7 (A) is a figure which shows the 1st state in which the holding | maintenance part was accommodated in the accommodating member, and FIG. It is a figure which shows the 2nd state which protruded. It is a block diagram which shows the control structure of the to-be-mounted work apparatus of one Embodiment. It is a typical front view which shows the whole structure in the 2nd attachment structure of the to-be-mounted work apparatus by one Embodiment of this invention. It is a typical front view which shows the whole structure in the 3rd attachment structure of the to-be-mounted work apparatus by one Embodiment of this invention. It is a figure for demonstrating operation | movement of a pair of conveyor part of the to-be-mounted thing conveyance part of one Embodiment, FIG. 11 (A) is a figure which shows the state which a pair of conveyor part is located in a conveyance position, FIG. (B) is a figure which shows the operation | movement which a pair of conveyor part moves to the direction orthogonal to a conveyance direction synchronously, FIG.11 (C) is a figure which shows the operation | movement which a pair of conveyor part moves to the direction which mutually spaces apart. It is.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings.

[One Embodiment]
(Configuration of mounted work equipment)
With reference to FIGS. 1-10, the structure of the to-be-mounted work apparatus 100 by one Embodiment of this invention is demonstrated.

  As shown in FIG. 1 to FIG. 3, the mounted object working apparatus 100 is a mounted object having a three-dimensional mounting surface such as a printed circuit board such as a component E (electronic component) such as an IC, a transistor, a capacitor and a resistor. This is a component mounting apparatus that is mounted on an object to be mounted Pb having Pa or a two-dimensional (planar) mounting surface.

  As shown in FIGS. 4A to 4C, the mounted object Pa includes one horizontal work surface (horizontal mounted surface) P1 and a plurality (four) inclined with respect to the horizontal work surface P1. This is a substrate having an inclined work surface (inclined mounting surface) P2. The plurality of inclined work surfaces P2 include a pair of inclined work surfaces P2a and P2b provided on both sides in the Y direction of the horizontal work surface P1, and a pair of both sides in the X direction of the horizontal work surface P1. The inclined work surfaces P2c and P2d are configured. The inclined work surfaces P2a, P2b, P2c, and P2d are inclined so as to be lowered toward the horizontal work surface P1. That is, the mounted object Pa is a substrate having a shape in which the horizontal work surface P1 is recessed downward with respect to the inclined work surfaces P2a, P2b, P2c, and P2d surrounding the periphery.

  One horizontal work surface P1 and a plurality of inclined work surfaces P2 are each provided with a position recognition mark (fiducial mark) FM imaged by a substrate recognition camera 7 described later. One horizontal work surface P1 and a plurality of inclined work surfaces P2 are both flat surfaces on which the component E is mounted by the head unit 4 described later. Further, the horizontal work surface P1 is a work surface of the work piece Pa that is parallel to the horizontal plane (XY plane) in a transfer state in the transfer direction by the mount object transfer unit 2 described later. The component E is mounted with the mounting surface parallel to a nozzle 41a described later. That is, the mounting of the component E is performed by inclining the inclined work surface P2 so as to be substantially parallel to the horizontal plane (XY plane).

  As shown in FIG. 5, the mounted object Pb is a substrate having only one substantially horizontal horizontal work surface P <b> 10. The horizontal work surface P10 is a surface corresponding to the horizontal work surface P1 of the mounted object Pa. Further, since the workpiece Pb does not have a work surface inclined with respect to the horizontal work surface P10, the component E can be mounted without being inclined like the workpiece Pa.

  As shown in FIGS. 1 to 3, the workpiece work apparatus 100 is an apparatus that transports and mounts a work Pa having a horizontal work surface P1 and an inclined work surface P2.

  The mounted object working apparatus 100 includes a base 1, a mounted object transport unit 2, a mounted object holding unit 3, a housing member 3a, a head unit 4, a support unit 5, and a pair of rail units 6. , A component recognition camera 7, a board recognition camera 8, a height measurement unit 9, a control device 10 (see FIG. 8), a placement unit 11, and a mounted object support unit 12. The mounted object holding unit 3 is a unit used for holding the mounted object Pa when a component is mounted on the mounted object Pa (so-called three-dimensional mounting). Is a unit used to support the back surface of the mount Pb when mounting a component on the mount Pb (so-called surface mounting). Details will be described later. The head unit 4 is an example of the “working unit” in the claims. The control device 10 is an example of a “control unit” in the claims.

  Here, in this embodiment, the mounted object working apparatus 100 is configured to be able to remove the mounted object holding unit 3 attached to the base 1 and attach the mounted object support unit 12 to the base 1. Has been. The mounted object working device 100 is configured such that both the mounted object holding unit 3 and the mounted object support unit 12 can be attached to the base 1. That is, the mounting state of the mounting object holding unit 3 and the mounting object support unit 12 to the base 1 is the mounting state in which the mounting object holding unit 3 is mounted on the base 1 (hereinafter referred to as the first mounting configuration). The mounting object support unit 12 is mounted on the base 1 (hereinafter referred to as a second mounting configuration), and the mounting object holding unit 3 and the mounting object support unit 12 are mounted on the base 1. There are three attachment states: an attachment state in which both are attached (hereinafter referred to as a third attachment configuration). In the following description, first, the configuration of each part of the mounted work apparatus 100 in the first mounting configuration will be described, and then the second mounting configuration and the third mounting configuration will be described.

  A feeder arrangement portion 102 for arranging a plurality of tape feeders 101 is provided at the end of the base 1 on the Y2 side. The tape feeder 101 holds a reel 101a (see FIG. 3) around which a tape holding a plurality of components E at predetermined intervals is wound. The tape feeder 101 is configured to supply the component E from the tip by rotating the reel 101a and sending out a tape that holds the component E.

  Each tape feeder 101 is arranged in the feeder arrangement unit 102 in a state of being electrically connected to the control device 10 via a connector (not shown) provided in the feeder arrangement unit 102. Thereby, each tape feeder 101 is configured to send the tape from the reel 101 a and supply the component E based on the control signal from the control device 10. At this time, each tape feeder 101 is configured to supply the component E according to the mounting operation of the head unit 4.

  The mounted object transport unit 2 is configured to carry in the mounted object Pa, transport it in the transport direction (X direction), and carry it out. In the mounted object working apparatus 100, a single transfer path is formed by the mounted object transfer unit 2.

  Here, as shown in FIGS. 1 to 3, the mounted object Pa is transported by the mounted object transport unit 2 while being mounted (held) on the mounting unit 11. The placement unit 11 is a member for transporting the mounted object Pa having a plate shape. The mounting portion 11 having a plate shape has a slightly adhesive layer formed on the upper surface (the surface on the Z1 side). The mounting portion 11 is configured to hold and fix the mounted object Pa so as to be detachable on the upper surface by bonding the mounted object Pa to the adhesive layer. In addition, a single held portion 11 a for holding the mounted object holding unit 3 is provided on the lower surface (the Z2 side surface) of the mounting portion 11. The held portion 11 a is formed so as to protrude downward (Z2 direction) from the lower surface of the placement portion 11. The mounted object Pa is held by the mounted object holding unit 3 via the mounting portion 11.

The base 1 has a holding unit accommodation hole 1 a in which the mounted object holding unit 3 is accommodated.
The holding unit accommodation hole 1 a is disposed at the center of the base 1. Further, the holding unit accommodation hole 1 a is formed in a rectangular shape larger than the mounted object holding unit 3 in plan view. Moreover, the holding unit accommodation hole 1a is configured to accommodate the mounted object holding unit 3 and the accommodation member 3a. Therefore, at least a part of the mounted object holding unit 3 is disposed below the upper surface of the base 1.

  The mounted product transport unit 2 includes an upstream transport unit 21, a central transport unit 22, and a downstream transport unit 23. Moreover, the to-be-mounted object conveyance part 2 is comprised so that the to-be-mounted object Pa may be conveyed. The mounted work apparatus 100 is provided with an upstream conveyance unit 21, a central conveyance unit 22, and a downstream conveyance unit 23 in order from the upstream side (X1 side) in the conveyance direction (X direction). Further, the upstream transport unit 21, the central transport unit 22, and the downstream transport unit 23 each have a pair of conveyor units 211, 221 and 231 extending in the transport direction (X direction). The mounting operation is performed by delivering the mounted object Pa from the central transport unit 22 to the mounted object holding unit 3.

  The pair of conveyor units 211 is configured to be able to adjust the interval in the direction (Y direction) orthogonal to the transport direction by moving the conveyor unit 211 on the Y1 side in the direction orthogonal to the transport direction. Thereby, according to the magnitude | size of the to-be-mounted object Pa, it is possible to adjust the width | variety (width | variety of a Y direction) between a pair of conveyor parts 211. FIG. In addition, the pair of conveyor units 211 includes a conveyor guide 211a and a conveyor belt 211b. The upstream transport unit 21 is configured to support the object to be mounted Pa from both sides in the Y direction by supporting both ends of the mounting unit 11 in the Y direction from below with a pair of conveyor belts 211b.

  The central transport unit 22 is configured to receive the mounted object Pa before mounting from the upstream transport unit 21 and transport the received mounted object Pa to the downstream transport unit 23. The pair of conveyor units 221 both include a conveyor guide 221a and a conveyor belt 221b. The central conveyance unit 22 is configured to support the workpiece Pa from both sides in the Y direction by supporting both ends of the mounting unit 11 in the Y direction from below with a pair of conveyor belts 221b.

  The pair of conveyor units 221 are configured to be movable independently from each other in a direction (Y direction) orthogonal to the transport direction. In the mounted object working apparatus 100, an operation of delivering the mounted object Pa from the mounted object transport unit 2 to the mounted object holding unit 3 by moving the pair of conveyor units 221 in a direction orthogonal to the transport direction. Done. Further, in the mounted object working apparatus 100, the operation of receiving the mounted object Pa from the mounted object holding unit 3 by the mounted object transport unit 2 by moving the pair of conveyor units 221 in a direction orthogonal to the transport direction. Is done. Details of the delivery operation and the reception operation will be described later.

  The Y1 side and Y2 side conveyor units 221 are respectively provided with drive mechanism units 224 and 225 for moving the Y1 side and Y2 side conveyor units 221 in a direction (Y direction) orthogonal to the transport direction. . The drive mechanism unit 224 on the Y1 side includes a ball screw shaft 224a extending in a direction orthogonal to the transport direction, and a drive motor 224b that rotates the ball screw shaft 224a. The drive mechanism unit 225 on the Y2 side includes a ball screw shaft 225a extending in a direction orthogonal to the transport direction, and a drive motor 225b that rotates the ball screw shaft 225a.

  Further, the pair of conveyor portions 221 is provided with a clamp mechanism portion 226 (see FIGS. 2 and 3) for sandwiching and fixing the mounted object Pa. 2 and 3 show the clamp mechanism 226 in a state before sandwiching both ends of the mounting portion 11 in the Y direction. The mounting object Pa is fixed by the clamp mechanism 226 at the time of mounting on the horizontal work surface P1.

  The pair of conveyor units 231 is configured to be able to adjust the interval in the direction (Y direction) orthogonal to the conveyance direction by moving the conveyor unit 231 on the Y1 side in the direction orthogonal to the conveyance direction. Thereby, according to the magnitude | size of the to-be-mounted object Pa, it is possible to adjust the width | variety (width | variety of a Y direction) between a pair of conveyor parts 231. FIG. The pair of conveyor units 231 includes a conveyor guide 231a and a conveyor belt 231b. The downstream transport unit 23 is configured to support the workpiece Pa from both sides in the Y direction by supporting both ends of the mounting unit 11 in the Y direction from below with a pair of conveyor belts 231b.

  The mounted object holding unit 3 receives the mounted object Pa from the mounted object transport unit 2 (central transport unit 22) at the delivery position M (see FIG. 11B) so as to hold the mounted object Pa. It is configured. Specifically, the mounted object holding unit 3 is configured to hold the mounted object Pa via the mounting portion 11.

  Further, the mounted object holding unit 3 is configured to hold the mounted object Pa so as to be movable in the vertical direction (in the Z direction), tiltable and rotatable. Therefore, the mounted object holding unit 3 is configured to be able to adjust the posture (orientation) of the mounted object Pa. Thereby, for example, the posture of the mounted object Pa is adjusted so that the inclined work surface P2 (see FIG. 4) of the mounted object Pa is parallel to a horizontal plane (a component E adsorbed to a nozzle 41a described later). It is possible. In addition, for example, the posture of the mounted object Pa can be adjusted so that the horizontal work surface P1 (see FIG. 4) of the mounted object Pa is parallel to the horizontal plane (part E sucked by the nozzle 41a). It is.

  As shown in FIG. 6, the mounted object holding unit 3 includes a first shaft mechanism portion 31, a second shaft mechanism portion 32, and a third shaft mechanism portion 33, and a holding portion 34 (chuck portion). And a holding unit fixing portion 35.

  The first shaft mechanism unit 31 is a vertical shaft mechanism unit for moving the mounted object Pa held by the holding unit 34 in the vertical direction. The first shaft mechanism portion 31 includes a drive motor 311, a belt pulley mechanism portion 312, a ball screw shaft 313, and an attachment portion 314. The drive motor 311 is an example of the “drive unit” in the claims.

  The drive motor 311 is configured to generate a drive force for rotating the ball screw shaft 313. The belt pulley mechanism 312 is configured to transmit a driving force (rotational force) generated by the driving motor 311 to the ball screw shaft 313. The ball screw shaft 313 is configured to rotate in the vertical direction by the driving force of the driving motor 311 transmitted through the belt pulley mechanism 312.

  The attachment portion 314 is a member for attaching the second shaft mechanism portion 32, the third shaft mechanism portion 33, and the holding portion 34 to the first shaft mechanism portion 31. Specifically, the second shaft mechanism portion 32 is attached to the Y1 side of the attachment portion 314. Further, a third shaft mechanism portion 33 and a holding portion 34 are attached to the X2 side of the second shaft mechanism portion 32. That is, the second shaft mechanism portion 32 is attached to the attachment portion 314, and the third shaft mechanism portion 33 and the holding portion 34 are attached to the attachment portion 314 via the second shaft mechanism portion 32. In addition, the mounting portion 314 is provided with a ball nut 314 a that is engaged (screwed) with the ball screw shaft 313.

  The mounting portion 314 is configured to be movable in the vertical direction along the ball screw shaft 313 together with a ball nut 314a engaged (screwed) with the ball screw shaft 313 when the ball screw shaft 313 is rotated by the drive motor 311. Yes. Thus, the first mechanism unit 31 moves the mounting object Pa held in the second axis mechanism unit 32, the third axis mechanism unit 33, the holding unit 34, and the holding unit 34 together with the mounting unit 314 in the vertical direction (Z Direction). In addition, in FIG. 6, the state (refer 1st state, FIG. 7 (A)) in which the attaching part 314 (holding part 34) is arrange | positioned at the lower end is shown. Further, the mounting object holding unit 3 is moved from the first state in which the holding part 34 is accommodated in the holding unit accommodation hole 1a by raising the holding part 34 together with the attachment part 314 and projecting from the holding unit accommodation hole 1a. It is comprised so that it may be in the 2nd state (refer FIG.7 (B)) which can hold | maintain the to-be-mounted object Pa with the holding | maintenance part 34. FIG. Further, the mounted object holding unit 3 is configured to change from the second state to the first state when the holding portion 34 is lowered. In the first state, the holding portion 34 is disposed below the upper surface of the base 1.

  The second shaft mechanism portion 32 is a tilt shaft mechanism portion for tilting the mounted object Pa held by the holding portion 34. The second shaft mechanism portion 32 includes a drive motor 321, a belt pulley mechanism portion 322, and a rotating shaft portion 323. The drive motor 321 is an example of the “drive unit” in the claims.

  The drive motor 321 is configured to generate a driving force for rotating the rotary shaft portion 323. The drive motor 321 is configured to be capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation). The belt pulley mechanism 322 is configured to transmit the driving force (rotational force) generated by the drive motor 321 to the rotating shaft 323. The rotation shaft portion 323 is driven by the driving force of the drive motor 321 transmitted via the belt pulley mechanism portion 322, and the rotation axis A1 passes through the center of the rotation shaft portion 323 in parallel with the transport direction (X direction) (indicated by a dashed line). It is configured to rotate around.

  A third shaft mechanism portion 33 and a holding portion 34 are attached to the end of the rotating shaft portion 323 on the X2 side. The third shaft mechanism portion 33 and the holding portion 34 are configured to be rotatable around the rotation axis A1 together with the rotation shaft portion 323 when the rotation shaft portion 323 is rotated by the drive motor 321. As a result, the second shaft mechanism unit 32 rotates the mounting object Pa held by the third shaft mechanism unit 33, the holding unit 34, and the holding unit 34 around the rotation axis A1 and tilts the YZ plane ( (See FIG. 11). Specifically, when the rotation axis A2 (described later) is parallel to the up-down direction, the second shaft mechanism unit 32 moves from the reference state to the Y1 direction side or the Y2 direction side orthogonal to the transport direction. The third shaft mechanism portion 33, the holding portion 34, and the mounted object Pa held by the holding portion 34 are exercised so as to be inclined. At this time, the second shaft mechanism unit 32 includes the third shaft mechanism unit 33 and the holding unit in an angle range of 0 degrees or more and 90 degrees or less from the reference state to the Y1 direction side or the Y2 direction side orthogonal to the transport direction. 34 and the to-be-mounted object Pa hold | maintained at the holding | maintenance part 34 are comprised so that inclination is possible.

  The third shaft mechanism unit 33 is a rotating shaft mechanism unit for rotating the mounted object Pa held by the holding unit 34. The third shaft mechanism 33 has a drive motor 331 and a belt pulley mechanism 332. The drive motor 331 is an example of the “drive unit” in the claims.

  The drive motor 331 is configured to generate a driving force for rotating the holding unit 34. The drive motor 331 is configured to be capable of forward rotation (clockwise rotation) and reverse rotation (counterclockwise rotation). The belt pulley mechanism 332 is configured to transmit the driving force (rotational force) generated by the drive motor 331 to the holding unit 34. The holding unit 34 is rotated about a rotation axis A2 (indicated by a one-dot chain line) passing through the center of the holding unit 34 and orthogonal to the rotation axis A1 by the driving force of the drive motor 331 transmitted via the belt pulley mechanism 332. It is configured. Thereby, the 3rd axis | shaft mechanism part 33 is comprised so that the to-be-mounted object Pa hold | maintained at the holding | maintenance part 34 and the holding | maintenance part 34 may be rotated to the surroundings of rotation axis A2.

  The holding unit 34 is configured to hold the mounted object Pa via the mounting unit 11 by supporting the mounting unit 11 from below. The mounting object Pa is fixed by the holding unit 34 when mounting on the inclined work surface P2. The holding part 34 has a main body part 341 having a cylindrical shape and a plurality (three) of claw parts 342. The plural (three) claw parts 342 are arranged on the upper surface of the main body part 341 at equal angular intervals (120 degree intervals). The plurality of claw portions 342 are configured to be movable in the radial direction of the main body portion 341 having a columnar shape for fixing or releasing the mounting object Pa, respectively.

  The holding unit fixing part 35 is a member for attaching and fixing the mounting object holding unit 3 to the upper surface of the base 1. The holding unit fixing part 35 is, for example, a screw. Further, the holding unit fixing portion 35 is fixed at a position where the holding portion 34 is shifted to the Y1 side with respect to the center of a single conveyance path formed by the mounted article conveyance portion 2. Specifically, the holding unit fixing portion 35 is fixed to a corner portion on the X1 side and the Y1 side of the holding unit accommodation hole 1a formed in a rectangular shape. Further, the holding unit fixing portion 35 is fixed in a state of being in contact with the upper surface of the base 1 near the edge of the holding unit accommodation hole 1a.

  The housing member 3 a is formed along the holding unit fixing portion 35, thereby forming a concave shape that opens upward together with the holding unit fixing portion 35. In addition, the housing member 3a avoids interference with the mounting portion 314 in the first state (see FIG. 7A) in which the holding portion 34 is lowered and the holding portion 34 is accommodated in the holding unit accommodation hole 1a. In addition, a protruding portion protruding downward is provided. The housing member 3 a is configured to close the holding unit housing hole 1 a by being housed in the holding unit housing hole 1 a together with the holding unit fixing portion 35. That is, the accommodating member 3a is a single shape excluding the holding unit fixing portion 35, and is formed in a bathtub shape in which corners on the X1 side and the Y1 side are missing. Thereby, the accommodating member 3a and the holding unit fixing part 35 prevent the parts E and the like from falling below the accommodating member 3a and the holding unit fixing part 35 through the holding unit accommodating hole 1a. The accommodating member 3a is configured to be fixed by being attached to the upper surface of the base 1 with screws or the like. In addition, the housing member 3a is fixed in a state of being in contact with the upper surface of the base 1 near the edge of the holding unit housing hole 1a.

  As shown in FIGS. 1 to 3, the head unit 4 is provided at a position above the base 1 via a support portion 5 and a pair of rail portions 6. Further, the head unit 4 is provided at a position above (Z1 direction) above the substrate mounted article transport unit 2 and the tape feeder 101, and is configured to be movable in the horizontal direction.

  The head unit 4 is configured to perform the mounting operation of the component E on the mounted object Pa held by the mounted object holding unit 3. The head unit 4 is configured to perform the mounting operation of the component E on the mounted object Pa held by the mounted object transport unit 2. Specifically, the head unit 4 is configured to suck the component E supplied from the tape feeder 101 and mount the sucked component E on the mounted object Pa.

  The head unit 4 includes a plurality (six) of mounting heads 41, a plurality (six) of ball screw shafts 42 provided for each mounting head 41, and a plurality of (six) of each of the ball screw shafts 42. A Z-axis motor 43 and a plurality (six) of R-axis motors 44 (see FIG. 6) provided for each mounting head 41 are provided.

  The plurality of mounting heads 41 are arranged in a line along the transport direction (X direction). A nozzle 41 a (see FIGS. 1 and 3) is attached to the tip of each mounting head 41. The mounting head 41 is configured to be able to suck and hold the component E supplied from the tape feeder 101 by a negative pressure generated at the tip of the nozzle 41a by a negative pressure generator (not shown).

  Each ball screw shaft 42 is formed to extend in the vertical direction. Each Z-axis motor 43 is configured to rotate the corresponding ball screw shaft 42. Each mounting head 41 is provided with a ball nut 41b (see FIG. 3) that is engaged (screwed) with the corresponding ball screw shaft 42. The mounting head 41 is configured to be movable in the vertical direction along the ball screw shaft 42 together with a ball nut 41 b that engages (screws) with the ball screw shaft 42 when the ball screw shaft 42 is rotated by the Z-axis motor 43. ing. Thereby, the mounting head 41 is in a lowered position where the component E can be sucked and mounted (mounted), and in a raised state where the mounting head 41 can move in the horizontal direction. It is configured to be movable up and down between positions.

  Each R-axis motor 44 is configured to rotate the corresponding mounting head 41 around the central axis of the nozzle 41a (around the Z direction).

  The support unit 5 is configured to move the head unit 4 in the transport direction (X direction). The support unit 5 includes a ball screw shaft 51 extending in the X direction, an X axis motor 52 that rotates the ball screw shaft 51, and a guide rail (not shown) extending in the X direction. The head unit 4 is provided with a ball nut 45 (see FIG. 3) to which the ball screw shaft 51 is engaged (screwed). When the ball screw shaft 51 is rotated by the X-axis motor 52, the head unit 4 moves along the support portion 5 in the transport direction (X direction) together with the ball nut 45 engaged (screwed) with the ball screw shaft 51. It is configured to be possible.

  The pair of rail portions 6 are fixed on the base 1 at both ends in the X direction of the base 1. The pair of rail portions 6 are configured to move the support portion 5 in a direction (Y direction) orthogonal to the transport direction. The pair of rail portions 6 includes a pair of ball screw shafts 61 extending in the Y direction, and a plurality (two) of Y axis motors 62 provided for each ball screw shaft 61. Each Y-axis motor 62 is configured to rotate the corresponding ball screw shaft 61. The support portion 5 is provided with a ball nut (not shown) to which the ball screw shaft 61 is engaged (screwed). The support portion 5 is conveyed along the pair of rail portions 6 together with the ball nuts engaged (screwed) with the respective ball screw shafts 61 by the respective ball screw shafts 61 being rotated synchronously by the respective Y-axis motors 62. It is configured to be movable in a direction (Y direction) orthogonal to the direction.

  With such a configuration, the head unit 4 is configured to be movable in the horizontal direction (X direction and Y direction) on the base 1. Accordingly, the head unit 4 can move, for example, above the tape feeder 101 and suck the component E supplied from the tape feeder 101. Further, the head unit 4 moves, for example, above the mounted object Pa held in the mounted object holding unit 3 or the mounted object Pa held in the mounted object transport unit 2 and sucked. It is possible to mount the manufactured component E on the mounting object Pa.

  The component recognition camera 7 is fixed on the upper surface of the base 1 in the vicinity of the tape feeder 101, and is configured to take an image of the component E sucked by the nozzle 41a of the mounting head 41 prior to mounting the component E. ing. The component recognition camera 7 is configured to take an image of the component E sucked by the nozzle 41a of the mounting head 41 from below (Z2 direction). This imaging result is acquired by the control device 10. The control device 10 recognizes the suction state of the component E (rotation posture and the suction position of the mounting head 41 relative to the nozzle 41a) viewed from below based on the imaging result of the component E sucked by the nozzle 41a of the mounting head 41. , Configured to correct.

  The board recognition camera 8 is configured to take an image of the position recognition mark FM attached to the mounted object Pa prior to mounting the component E. The position recognition mark FM is a mark for recognizing the position of the mounted object Pa. The imaging result of the position recognition mark FM is acquired by the control device 10. And based on the imaging result of the position recognition mark FM, the exact position and attitude | position of the to-be-mounted object Pa of the state hold | maintained by the to-be-mounted object holding | maintenance unit 3 or the state hold | maintained by the to-be-mounted object conveyance part 2 are controlled. It can be recognized and corrected by the device 10.

  The substrate recognition camera 8 is attached to the head unit 4. Specifically, the substrate recognition camera 8 is attached to the central position of the mounting nozzle array arranged in the X direction on the Y1 side of the head unit 4. Thereby, the board | substrate recognition camera 8 is comprised with the head unit 4 so that a movement on the base 1 is possible to a horizontal direction (X direction and Y direction). The board recognition camera 8 is configured to move in the horizontal direction on the base 1 and to image the position recognition mark FM attached to the mounting object Pa from above the mounting object Pa (Z1 direction). Has been.

  The height measuring unit 9 is configured by a laser displacement meter that measures the height position of the component mounting position on the mounted object Pa prior to the mounting of the component E. The height measuring unit 9 irradiates the component mounting position on the mounted object Pa with a laser beam and receives the reflected light reflected from the component mounted position, whereby the height position of the component mounted position on the mounted object Pa. Is configured to measure. The measurement result of the height position is acquired by the control device 10. And based on the measurement result of the height position, the height position of the component mounting position in the mounted object Pa can be recognized and corrected by the control device 10.

  The height measuring unit 9 is attached to the head unit 4. Specifically, the height measuring unit 9 is attached between the mounting head 42 and the substrate recognition camera 8 at a substantially central position of the mounting nozzle array arranged in the X direction. Thereby, the height measuring unit 9 is configured to be movable together with the head unit 4 in the horizontal direction (X direction and Y direction) on the base 1. Further, the height measuring unit 9 is configured to move on the base 1 in the horizontal direction and irradiate the laser beam from above the component mounting position in the mounted object Pa.

  As shown in FIG. 8, the control device 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and controls the operation of the workpiece work apparatus 100. It is configured. Specifically, the control device 10 includes a mounted object transport unit 2, a mounted object holding unit 3, a head unit 4, a support unit 5, a pair of rail units 6, a component recognition camera 7, and a board. The recognition camera 8, the height measuring unit 9, the tape feeder 101, and the like are controlled according to a program stored in advance, and the component E is mounted on the mounted object Pa.

(Second mounting configuration)
With reference to FIG. 9, the 2nd attachment structure by which the to-be-mounted object support unit 12 was attached to the base 1 is demonstrated.

  The mounted object support unit 12 is configured to be attachable to the base 1. Further, the mounted object support unit 12 is mounted when the mounted object Pb on the pair of conveyor sections 221 of the central transport section 22 is moved to the mounting position M1 in the transport direction (X direction) and stopped. The object Pb is configured to be supported from below. The mounted object support unit 12 includes the mounted object holding unit 3 and the housing member 3 attached to the upper surface of the base 1, and the mounted object holding unit 3 and the housing member 3. In any state of being removed from the upper surface of the base plate, it can be attached to the upper surface of the base by the support unit fixing portion 125 described below. The mounting of the mounted object support unit 12 in a state where the mounted object holding unit 3 and the housing member 3 are mounted on the upper surface of the base 1 will be described in detail in the description of the third mounting structure.

  The mounted object support unit 12 includes a cylinder part 121, a drive shaft part 122, a link mechanism part 123, an elevating part 124, and a support unit fixing part 125. The cylinder part 121 has a point F at one end fixed to the base 1. The cylinder portion 121 has a drive shaft portion 122 connected to one end. In addition, the cylinder part 121 extends and lowers the elevating part 124 in the vertical direction (white arrow) by expanding and contracting the drive shaft part 122 in the axial direction of the cylinder part 121 (direction indicated by a black arrow) by a method such as hydraulic or pneumatic pressure. It is configured to move up and down in the direction shown. Specifically, the link mechanism unit 123 is connected to the drive shaft unit 122 and the elevating unit 124. Further, the link mechanism portion 123 is configured to raise the elevating portion 124 as the drive shaft portion 122 is pushed out from the cylinder portion 121. Further, the link mechanism portion 123 is configured to lower the elevating portion 124 as the drive shaft portion 122 is pulled into the cylinder portion 121.

  The elevating part 124 has a plurality of backup pins 124a extending upward. The backup pin 124a is provided at a position below the mounted object Pb moved to the mounting position M1. Further, the tip of the backup pin 124 a is arranged at substantially the same height as the upper surface of the conveyor belt 221 b of the conveyor unit 221 due to the lifting of the elevating unit 124. The elevating part 124 is configured to support the article Pb that has been moved to the mounting position M1 from below by raising the backup pin 124a.

  The support unit fixing part 125 is formed in a flat plate shape. Further, the support unit fixing portion 125 is configured to be attached to the upper surface of the base 1. Further, the support unit fixing part 125 is configured to close the holding unit accommodation hole 1 a by being attached to the upper surface of the base 1.

(Third mounting configuration)
With reference to FIG. 10, the 3rd attachment structure by which the to-be-mounted object holding | maintenance unit 3 and the to-be-mounted object support unit 12 were attached to the base 1 is demonstrated.

  In the third mounting configuration, the holding portion 34 of the mounted object holding unit 3 is held in the first state (see FIG. 7A). The mounted object support unit 12 is disposed above the mounted object holding unit 3. At this time, the mounted object holding unit 3 has the upper holding unit accommodation hole 1a closed by the mounted object support unit 12, so that the mounted object holding unit 3 is used in the third mounting configuration. This is not possible, and only the article support unit 12 can be used. That is, mounting cannot be performed on the three-dimensional mounted portion Pa, and mounting can be performed only on the non-three-dimensional mounted portion Pb.

(Configuration of control device related to operation of conveyor section)
Next, with reference to FIGS. 11A to 11C, the configuration of the control device 10 related to the operation of the conveyor unit 221 when the component E is mounted on the mounting object Pa will be described. For convenience of explanation, in FIG. 7, the mounting object holding unit 3 excluding the base 1 and the nozzle 41a is not shown.

  As shown in FIG. 11 (A), when the mounting apparatus Pa is transported in the transporting direction (X direction), the control device 10 has a central transporting part 22 at a position where the mounting object Pa can be carried in or out. It is comprised so that the control which positions a pair of conveyor part 221 may be performed.

  Further, as shown in FIG. 11B, when the control device 10 moves the mounted object Pa in a direction orthogonal to the transport direction, the width between the pair of conveyor units 221 of the central transport unit 22 ( It is configured to perform control to move the pair of conveyor portions 221 in a direction orthogonal to the transport direction (direction indicated by a white arrow) while maintaining the width in the Y direction.

  In addition, as illustrated in FIG. 11C, when the control device 10 performs an operation of delivering the mounted object Pa from the mounted object transport unit 2 to the mounted object holding unit 3, Control is performed to move the pair of conveyor portions 221 in a direction orthogonal to the transport direction (the outward direction indicated by a white arrow) so that the width (width in the Y direction) between the pair of conveyor portions 221 is increased. It is configured. As a result, the to-be-held part 11a of the mounting part 11 is arrange | positioned in the position corresponding to the holding part 34 in a horizontal direction (direction orthogonal to a conveyance direction and a conveyance direction). At this time, the holding part 34 is in the first state (see FIG. 7A) accommodated in the holding unit accommodation hole 1a. And the control apparatus 10 can hold | maintain the to-be-mounted object Pa by the holding | maintenance part 34 by raising the holding | maintenance part 34 and moving the to-be-mounted object Pa to the same height position as the to-be-held part 11a. Control to shift to the second state (see FIG. 7B) is performed.

  Further, when the control device 10 performs an operation of receiving the mounting object Pa from the mounting object holding unit 3 by the mounting object transporting unit 2, the control unit 10 lowers the holding unit 34 and puts the holding unit 34 into the first state. After the transition, the pair of conveyor sections is orthogonal to the transport direction (inward direction indicated by a black arrow) so that the width (width in the Y direction) between the pair of conveyor sections 221 of the central transport section 22 is narrowed. It is comprised so that control to move to may be performed.

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

  In the present embodiment, as described above, the base 1 having the holding unit accommodation hole 1a in which the mounted object holding unit 3 is accommodated is provided. Thereby, since the mounted object holding unit 3 is stored in the holding unit receiving hole 1a, the mounted object working unit 100 is compared with the case where the mounted object holding unit 3 is disposed on the upper surface of the base 1. An increase in the size in the height direction can be suppressed. In addition, a relatively large mounted object holding unit 3 can be easily formed by simply opening the holding unit accommodation hole 1a in the existing mounted object working apparatus 100 and performing minor modifications to change the arrangement of the wiring and the like in the base 1. Can be attached to the base 1.

  In the present embodiment, as described above, the holding unit 34 is configured to hold the mounted object Pa so as to be tiltable. Thus, by tilting the mounting object Pa having the mounting surface inclined with respect to the horizontal, the mounting surface of the mounting object Pa can be arranged horizontally to work.

  In the present embodiment, as described above, the holding unit 34 is configured to hold the mounted object Pa so as to be movable in the vertical direction. Thereby, compared with the case where the to-be-mounted object holding | maintenance unit 3 is arrange | positioned on the upper surface of the base 1, since the holding | maintenance part 34 can be arrange | positioned in a low height position, the holding | maintenance part 34 is moved upwards. In particular, the holding unit 34 can be prevented from interfering with the transport of the mounted object Pa, the work of the head unit 4 and the like.

  In the present embodiment, as described above, the mounting portion 11 on which the object Pa is mounted is provided, and the holding portion 34 is supported from below by placing the mounting portion 11 through the mounting portion 11. Thus, the mounting object Pa is held. Thereby, even if the mounted object Pa has a shape that is difficult to be directly held by the holding part 34, the mounted object Pa can be easily held via the mounting part 11. Since the mounting portion 11 is supported from below by the holding portion 34, the holding portion 34 does not hinder the work from above on the mounted object Pa on the mounting portion 11 of the head unit 4. While being able to hold | maintain, the to-be-held part Pa can be hold | maintained by the holding | maintenance part 34 via the mounting part 11 in the stable state.

  Further, in the present embodiment, as described above, the holding unit 34 is accommodated in the holding unit accommodation hole 1a by raising the holding part 34 and projecting from the holding unit accommodation hole 1a. From the first state, the mounting state Pa is changed to the second state in which the mounting object Pa can be held, and the holding portion 34 is lowered to be changed from the second state to the first state. . Accordingly, the holding portion 34 can be brought into the first state (accommodated state) except when holding the mounted object Pa, so that the holding portion 34 can be used for transporting the mounted object Pa, work of the head unit 4, and the like. Interference can be suppressed.

  In the present embodiment, as described above, the mounting unit holding unit 3 is provided with the holding unit fixing portion 35 for attaching to the upper surface of the base 1, and the concave shape is opened upward together with the holding unit fixing portion 35. An accommodation member 3a that is formed and accommodated in the holding unit accommodation hole 1a together with the holding unit fixing portion 35 is provided to close the holding unit accommodation hole 1a. Thereby, since the holding unit accommodation hole 1a is closed by the accommodation member 3a, it is possible to prevent the component E from falling under the base 1 through the holding unit accommodation hole 1a. Further, since the holding unit accommodation hole 1a is closed by the holding unit fixing portion 35 and the accommodation member 3a, even if the component E falls into the holding unit accommodation hole 1a, the component E is retained in the accommodation member 3a. Can do. For this reason, it is possible to suppress the component E from entering the base 1 and being lost. Further, the mounting object holding unit 3 can be easily fixed to the base 1 by the holding unit fixing portion 35.

  Further, in the present embodiment, as described above, the mounting object transporting part 2 that transports the mounting object Pa or Pb, and the flat plate-like support unit fixing part 125 for attaching to the upper surface of the base 1, The mounting unit support unit 12 further supports the mounting target Pb transported to the mounting target transport unit 2 from below, and the support unit fixing unit 125 is attached to the upper surface of the base 1 to thereby hold the holding unit. The housing hole 1a is configured to be closed. Thereby, since the holding unit accommodation hole 1a is closed by the support unit fixing part 125, it is possible to reliably prevent the component E from falling through the holding unit accommodation hole 1a and under the base 1. Further, the mounting object support unit 12 can be easily fixed to the base 1 by the support unit fixing portion 125.

  Further, in the present embodiment, as described above, the mounting object transporting part 2 that transports the mounting object Pa or Pb, and the flat plate-like support unit fixing part 125 for attaching to the upper surface of the base 1, The mounting unit support unit 12 further supports the mounting target Pb transported to the mounting target transport unit 2 from below, and the support unit fixing unit 125 is attached to the upper surface of the base 1 to thereby hold the holding unit. The mounting object support unit 12 is configured to close the receiving hole 1a, and the mounted object holding unit 3 and the receiving member 3a are attached to the upper surface of the base 1, and the mounted object holding unit 3 In any state in which the housing member 3 a is detached from the upper surface of the base 1, the support member fixing portion 125 can be attached to the upper surface of the base 1. Thereby, use of the to-be-mounted object holding unit 3 and use of the to-be-mounted object support unit 12 can be easily switched. Further, when mounting the mounted object support unit 12 to the base 1, the mounted object support unit 12 can be mounted to the base 1 without removing the mounted object holding unit 3 and the housing member 3 a. Therefore, the workability at the time of mounting the mounted article support unit 12 can be improved.

[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 object working device as the component mounting apparatus that performs the work of mounting the component on the mounted object is shown, but the present invention is not limited to this. The present invention may be applied to an article work apparatus other than the component mounting apparatus.

  For example, the present invention may be applied to a mounted object working apparatus as a viscous material applying apparatus that performs an operation of applying a viscous material such as solder to an mounted object. In this case, instead of the head unit of the above-described embodiment, a viscous material application unit for applying the viscous material to the mounted object is provided in the viscous material application device. Then, the mounting object held by the mounting object holding section may be inclined, and the viscous material application unit may apply the viscous material to the mounted object. In this case, the viscous material application unit is an example of the “working unit” in the claims.

  Further, the present invention may be applied to a mounted object working apparatus as a reflow apparatus that performs an operation of reflowing a viscous material such as solder on the mounted object. In this case, instead of the head unit of the above-described embodiment, a laser beam irradiation unit that irradiates a laser beam to reflow the viscous material on the mounted object is provided in the reflow apparatus. Then, the mounting object held by the mounting object holding portion may be tilted, and the laser light irradiation unit may irradiate the laser light to reflow the viscous material on the mounting object. In this case, the laser beam irradiation unit is an example of the “working unit” in the claims.

  In addition, the present invention may be applied to a mounted object working apparatus as a mounted object inspection apparatus that performs an operation of inspecting a mounted object using visible light, infrared light, X-rays, or the like. In this case, instead of the head unit of the above-described embodiment, an inspection unit that shoots an image by irradiating the object with visible light, infrared light, X-rays, or the like is provided in the object inspection apparatus. Then, the mounting object held by the mounting object holding unit is tilted, and the inspection unit irradiates visible light, infrared light, X-rays, etc. to photograph and inspect the mounted object. You can do it. In this case, the inspection unit is an example of the “working unit” in the claims.

  Moreover, although the to-be-mounted object showed the example with a flat work surface (a horizontal work surface and an inclined work surface) in the said embodiment, this invention is not limited to this. In the present invention, the mounted object may have a non-flat work surface (work surface as a curved surface). Moreover, you may have both a flat work surface and a non-flat work surface.

  Moreover, although the to-be-mounted object showed the example which has one horizontal work surface and four inclined work surfaces in the said embodiment, this invention is not limited to this. In the present invention, the mounted object may have two or more horizontal work surfaces. In the present invention, the mounted object may have a plurality of inclined work surfaces other than one or four.

  Moreover, in the said embodiment, although the example which comprised the holding | maintenance part of the to-be-mounted object holding | maintenance unit so that the up-down direction was movable was shown, this invention is not limited to this. In this invention, you may comprise so that the holding | maintenance part of a to-be-mounted object holding | maintenance unit may not move to an up-down direction.

  Moreover, although the example which comprised the holding | maintenance part of the to-be-mounted object holding unit so that inclination was shown in the said embodiment, this invention is not limited to this. In this invention, you may comprise so that the holding | maintenance part of a to-be-mounted object holding unit may not incline.

  Moreover, in the said embodiment, when attaching the to-be-mounted object holding | maintenance unit to a base, the example which attached the accommodating member to the base was shown, However, This invention is not limited to this. In the present invention, even when the mounted object holding unit is attached to the base, the housing member may not be attached to the base.

  Moreover, in the said embodiment, although the example to which the single to-be-held part was provided in the mounting part was shown, this invention is not limited to this. In the present invention, a plurality of held portions may be provided on the mounting portion.

DESCRIPTION OF SYMBOLS 1 Base 1a Holding unit accommodation hole 2 Mounted object conveyance part 3 Mounted object holding unit 3a Housing member 4 Head unit (working part)
DESCRIPTION OF SYMBOLS 11 Mounting part 12 Mounted object support unit 34 Holding part 35 Holding unit fixing | fixed part 100 Mounted object working apparatus 125 Support unit fixing | fixed part 311,321,331 Drive motor (drive part)
E Parts Pa, Pb Mounted object

Claims (8)

A mounted object holding unit having a holding part for holding a mounted object on which a component is mounted from below, and a drive part for driving the holding part up, down, tilting, or rotating;
A working unit for performing work on the mounted object held by the holding part of the mounted object holding unit;
A base on which a holding unit accommodation hole for accommodating the mounted object holding unit is formed;
A mounting object working apparatus comprising: an accommodating member that accommodates the mounting object holding unit, has a bottom, and is fixed to the base so as to close the holding unit accommodation hole.   The mounted object working apparatus according to claim 1, wherein the holding unit is configured to hold the mounted object in a tiltable manner.   The mounted object working apparatus according to claim 1, wherein the holding unit is configured to hold the mounted object so as to be movable in a vertical direction. It further comprises a placement part on which the mounted object is placed,
The said holding | maintenance part is comprised so that the said to-be-mounted object may be hold | maintained via the said mounting part by supporting the said mounting part from the downward direction. Mounted work equipment.   The mounting object holding unit is moved from the first state in which the holding part is received in the holding unit receiving hole by the holding part as the holding part rises and protrudes from the holding unit receiving hole. The covered state according to claim 3, wherein the second state in which the mounted object can be held is formed, and the holding unit is lowered to change from the second state to the first state. Mounted work equipment. The mounted object holding unit has a holding unit fixing part for attaching to the upper surface of the base,
The housing member is formed in a concave shape that opens upward together with the holding unit fixing portion, and is configured to close the holding unit housing hole by being housed in the holding unit housing hole together with the holding unit fixing portion. The mounted object working apparatus according to any one of claims 1 to 5. The mounting object transporting part that transports the mounting object and a flat plate-like support unit fixing part for mounting on the upper surface of the base, and the mounting object transported to the mounting object transporting part downward A mounting object support unit that supports the
The mounted object working device according to claim 1, wherein the support unit fixing portion is configured to close the holding unit accommodation hole by being attached to an upper surface of the base. . The mounting object transporting part that transports the mounting object and a flat plate-like support unit fixing part for mounting on the upper surface of the base, and the mounting object transported to the mounting object transporting part downward A mounting object support unit that supports the
The support unit fixing part is configured to close the holding unit accommodation hole by being attached to the upper surface of the base,
The mounted object support unit includes a state in which the mounted object holding unit and the housing member are attached to the upper surface of the base, and the mounted object holding unit and the housing member are in an upper surface of the base. The mounted object working apparatus according to claim 6, wherein the mounted work apparatus is configured to be attachable to the upper surface of the base by the support unit fixing portion in any state of being detached from the base.

Images