CN116998234A

CN116998234A - Pallet storage device and pallet member management system

Info

Publication number: CN116998234A
Application number: CN202280020839.4A
Authority: CN
Inventors: 柿岛信幸; 石谷泰行; 井上凉太; 小原启史; 上山口润; 吉武高德
Original assignee: Panasonic Intellectual Property Management Co Ltd
Current assignee: Panasonic Intellectual Property Management Co Ltd
Priority date: 2021-03-15
Filing date: 2022-02-18
Publication date: 2023-11-03
Also published as: JPWO2022196253A1; WO2022196253A1

Abstract

The pallet storage device is provided with: a pallet storage unit configured to be able to store a pallet in a state of being mounted with a pallet for supplying the pallet storing the components to a component taking-out position of the component mounting device for mounting the components on the substrate; an in-out/in-storage workstation for taking out/in a pallet assembly pallet as a pallet in a pallet-assembled state; and a pallet carrying section for carrying the pallet mounted pallet placed on the in-out/in-storage workstation to the pallet storage section or taking out the pallet mounted pallet from the pallet storage section and carrying the pallet to the in-out/in-storage workstation.

Description

Pallet storage device and pallet member management system

Technical Field

The present invention relates to a pallet storage device and a pallet component management system.

Background

A tape reel is known in which a carrier tape holding a plurality of components is wound. The component mounting device for mounting components on a substrate takes out components from a carrier tape wound around a tape reel and mounts the components on the substrate. Patent document 1 discloses an automatic warehouse for automatically warehousing and storing a tray (tray) on which a tape reel in a state in which a carrier tape is wound is mounted.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2019-89619

Disclosure of Invention

Problems to be solved by the invention

The supply of components to the component mounting apparatus is not limited to the case of using a carrier tape, but may be the case of using a tray having a plurality of partitions capable of accommodating components. In this case, the components are supplied to the component mounting apparatus in units of pallets (pallet) on which the trays are mounted. Therefore, if the pallet on which the tray is mounted can be stored as it is, improvement in work efficiency can be achieved.

The purpose of the present invention is to provide a technique that enables a pallet on which a pallet is mounted to be stored as it is.

Means for solving the problems

The pallet storage device of the present invention comprises:

a pallet storage unit configured to be able to store a pallet for supplying a pallet storing components to a component taking-out position of a component mounting apparatus for mounting the components on a substrate in a state where the pallet is mounted;

an in-out/in-storage workstation for taking out/in a pallet assembly pallet which is the pallet in a state where the pallet is assembled; and

and a pallet carrying section for carrying the pallet mounted pallet placed on the in-out/in-out workstation to the pallet storage section or taking out the pallet mounted pallet from the pallet storage section and carrying the pallet mounted pallet to the in-out/in-out workstation.

The tray member management system of the present invention comprises:

a component mounting device for mounting components stored in a tray mounted on a pallet on a substrate;

a pallet storage device for storing a pallet assembly pallet as the pallet in a state where the pallet is assembled; and

and a server device for managing information of parts obtained by associating part information indicating the parts of the tray with address information indicating a storage place of the tray mounting pallet on which the tray for storing the parts is mounted in the pallet storage device.

Effects of the invention

According to the present invention, the pallet on which the tray is mounted can be stored as it is.

Drawings

Fig. 1 is a conceptual diagram illustrating an example of a mounting substrate manufacturing system provided on a factory floor.

Fig. 2 is a diagram showing an example of the overall structure of the tray processing apparatus, and is a diagram obtained by overlooking the tray processing apparatus from above.

Fig. 3 is a schematic diagram showing a structural example of the component mounting apparatus and the tray component supplying apparatus.

Fig. 4 is a perspective view showing a structural example of the tray and the pallet.

Fig. 5 is a perspective view showing an example of a state after positioning the tray with respect to the pallet.

Fig. 6 is a perspective view showing a structural example of a cassette (magazine).

Fig. 7 is a schematic view showing a configuration example of the pallet collecting part.

Fig. 8A is a schematic diagram showing an example of a state before the tray pushing device pushes out the tray in the cassette.

Fig. 8B is a schematic diagram showing an example of a state after the tray pushing device pushes out the tray in the cassette.

Fig. 9 is a schematic diagram showing a structural example of the tray removing portion.

Fig. 10 is a perspective view of a main part showing a structural example of the tray removing portion.

Fig. 11A is a perspective view showing a structural example of a magnetic bar.

Fig. 11B is a longitudinal cross-sectional view showing a structural example of the magnetic rod.

Fig. 12 is a perspective view showing a structural example of the magnetic rod transfer head.

Fig. 13 is an explanatory diagram of the operation of the magnetic rod transfer head.

Fig. 14 is a schematic view showing a structural example of the tray fitting portion.

Fig. 15 is a perspective view of a main part showing a structural example of the tray fitting portion.

Fig. 16 is a perspective view of a main part showing a configuration example of the information writing section and the pallet feeding section.

Fig. 17 is a side view showing a structural example of the pallet automatic warehouse.

Fig. 18 is a perspective view of a main part showing a structural example of the pallet storing section.

Fig. 19 is an a-direction view of the pallet automated warehouse shown in fig. 17.

Fig. 20 is a ZX cross-sectional view of the pallet pull-out device shown in fig. 17.

Fig. 21 is a block diagram showing a system configuration example of the tray member management system.

Fig. 22 is a plan view showing a modification of the structure of the pallet automatic warehouse.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the above detailed description may be omitted. For example, a detailed description of known matters may be omitted, and a repeated description of substantially the same structure may be omitted. This is to avoid unnecessarily obscuring the following description. The drawings and the following description are provided to enable those skilled in the art to fully understand the present invention, and are not intended to limit the subject matter described in the technical solutions by using these matters. In the description of each drawing, the axis from the top to the bottom of the drawing sheet is referred to as the X axis, the axis from the left to the right of the drawing sheet is referred to as the Y axis, and the axis from the back to the front of the drawing sheet is referred to as the Z axis. The positive direction of the X axis is referred to as "front", the negative direction of the X axis is referred to as "rear", the positive direction of the Y axis is referred to as "right", the negative direction of the Y axis is referred to as "left", the positive direction of the Z axis is referred to as "up", and the negative direction of the Z axis is referred to as "down". The expressions in these directions are used for convenience of description, and are not intended to limit the posture of the structure in actual use.

< structural example of factory floor >

As shown in fig. 1, the mounting board manufacturing system provided on a factory floor includes, for example, a mounting board production line 1 (1A, 1B), a preparation area 83, a board storage section 84, a braid component storage section 85, a pallet component storage section 86, a pallet processing apparatus 100, a pallet automated warehouse 800, an AGV60, and a regulating room 80. The number of these components may be one or plural.

Mounting substrate production line

The mounting substrate production line 1 is a production line for performing a work of mounting components on a substrate 13, and is constituted by a plurality of devices. For example, the mounting substrate production line 1 includes a substrate supply device 2, a solder printing device 3, a solder inspection device 4, a component mounting device 5, a component mounting inspection device 6, a reflow soldering device 7, a soldering inspection device 8, and a mounting substrate recovery device 9.

The substrate supply device 2 is a device that supplies the substrate 13 to the solder printing device 3. The solder printing apparatus 3 is an apparatus that prints solder on the substrate 13 supplied from the substrate supply apparatus 2. The solder inspection device 4 is a device for inspecting the solder print state of the substrate 13 supplied from the solder printing device 3.

The component mounting device 5 is a device for mounting components on the substrate 13 supplied from the solder inspection device 4. As shown in fig. 1, the mounting substrate production line 1 may include a plurality of component mounting devices 5. The component mounting device 5 may be configured to include a feeder carriage 61. The feeder carriage 61 may be a carriage provided with a tape feeder for taking out components from a carrier tape. The feeder carriage 61 may be detachable with respect to the component mounting device 5. The component mounting device 5 may include a tray component supply device 20. The tray member supply apparatus 20 may be also referred to as a tray feeder. The tray component supply device 20 may be detachable from the component mounting device 5. Details of the component mounting device 5 and the tray component supply device 20 will be described later.

The component mounting inspection device 6 is a device that inspects the component mounting state of the substrate 13 supplied from the component mounting device 5. The reflow soldering apparatus 7 is an apparatus for reflow soldering the substrate 13 supplied from the component mounting inspection apparatus 6. The solder inspection device 8 is a device for inspecting the solder state of the substrate 13 supplied from the reflow device 7. The mounted substrate recovery device 9 is a device for recovering the mounted substrate 13 of the component supplied from the soldering inspection device 8.

Preparation area

The preparation area 83 is an area for an operator to prepare (pre-process) the operation of the mounting substrate production line 1. The feeder carriage 61, the tray member supply device 20, and the registration device 1000 may be arranged in the preparation area 83. The operator can perform a work of setting the carrier tape to the feeder carriage 61 in the preparation area 83. The operator can perform an operation of assembling the tray 30 accommodating the components to the pallet 40 in the preparation area 83. Hereinafter, the pallet 40 on which the pallet 30 is mounted is sometimes referred to as a pallet mounting pallet 40. The operator can perform an operation of setting the tray assembly pallet 40 to the tray member supply apparatus 20. The registration device 1000 will be described later.

Substrate storage unit

The substrate storage section 84 is a device for storing the substrate 13. The substrate storage unit 84 can store the substrate 13 before the components are carried into the factory. The substrate storage unit 84 can store the substrates 13 loaded with components carried out from the factory.

Braiding parts storage part

The braid component storage unit 85 is a device for storing a carrier tape. The braid component storage unit 85 can store a carrier tape carried to a factory.

Tray component storage unit

The tray component storage 86 is a device for storing the tray 30 in which components are stored. The tray component storage unit 86 can store the component-housed tray 30 carried into the factory. The operator may perform a work of assembling the tray 30 to the pallet 40 (i.e., a work of preparing the tray for assembling the pallet 40) in the tray member storage unit 86.

Tray treatment device

The tray processing apparatus 100 is an apparatus for processing the tray 30, and specifically, automatically performs a process of removing the tray 30 from the pallet 40 or assembling the tray 30 to the pallet 40. Details of the tray processing apparatus 100 will be described later.

Automatic warehouse for supporting plate

The pallet automatic warehouse 800 is a device for automatically warehousing, storing, and delivering the pallet 40. As shown in fig. 1, the pallet automatic warehouse 800 is disposed at a location separated from the mounting substrate production line 1 (component mounting apparatus 5). Pallet automated warehouse 800 may be modified as a pallet storage facility. Details of pallet automatic warehouse 800 will be described later.

《AGV》

The AGV60 is an unmanned device that travels inside the factory floor. The AGV60 may also be modified as an automated guided vehicle. The AGV60 can be loaded with a cassette 50 storing the tray assembly pallet 40 or an empty cassette 50 and moved between devices in the factory floor. For example, the AGV60 moves to the position of the tray processing apparatus 100, and stores the tray assembly pallet 40 in the cassette 50 in the tray processing apparatus 100. Thereafter, the AGV60 moves to the position of the tray member supply device 20 of the member mounting device 5, and delivers the tray assembly pallet 40 in the cassette 50 to the tray member supply device 20. For example, the AGV60 moves to the position of the tray processing apparatus 100, and stores the tray assembly pallet 40 in the cassette 50 in the tray processing apparatus 100. Thereafter, the AGV60 moves toward the pallet automatic warehouse 800, and delivers the tray assembly pallet 40 in the cassette 50 to the pallet automatic warehouse 800.

Control room

The control room 80 is a place for managing, monitoring and controlling each device on the factory floor. In the regulating room 80, for example, a server 900, a job instruction unit 81, and an AGV operation management apparatus 82 are disposed. The job instruction unit 81 may be modified to be a higher-level system. The devices in the control room 80 and the devices in the factory floor are connected by a wired or wireless communication network, and can transmit and receive information to and from each other.

The job instruction unit 81 is a device that receives a job instruction from an operator, and manages and monitors each device on the factory floor. Details of the job instruction unit 81 will be described later.

The server 900 is a device that stores information related to a job and controls each device of the factory floor. Details of the server 900 will be described later.

The AGV operation management device 82 is a device that manages the operation of the AGV 60.

< integral Structure of tray treatment device >

Fig. 2 is a diagram showing an example of the overall configuration of the tray processing apparatus 100 according to the present embodiment, and is a diagram obtained by overlooking the tray processing apparatus 100 from above. Next, an outline of the structure of the tray processing apparatus 100 will be described with reference to fig. 2.

The tray processing apparatus 100 includes a conveyor 110, a pallet collecting unit 200, a pallet removing unit 300, a pallet mounting unit 400, a pallet registering unit 500, and a pallet delivering unit 600.

For example, the AGV60 collects a cassette 50 for storing the pallet 40 on which the pallet 30 after the components are supplied is mounted from the pallet supplying device 20, and distributes the cassette 50 to the place of the pallet collecting part 200. As described above, the pallet 40 on which the pallet 30 is mounted is referred to as a pallet mounting pallet 40. The tray 30 in the tray mounting plate 40 may or may not contain components.

The pallet collecting unit 200 is a device and a region for collecting the pallet 40 from the cassette 50 dispensed by the AGV60 and placing the collected pallet 40 on the conveyor 110. Details of the pallet collecting unit 200 will be described later (see fig. 7 and 8).

The tray removing unit 300 is a device and a region for performing a task of removing the tray 30 from the tray mounting pallet 40 conveyed by the conveyor 110 and collecting the tray 30 to the tray collecting unit 330. The pallet 40 from which the pallet 30 is removed is carried by the conveyor 110. Details of the tray removing unit 300 will be described later (see fig. 9).

The tray assembly unit 400 is a device and a region for performing an operation of acquiring the tray 30 stored in the tray storage unit 430 and assembling the acquired tray 30 to the pallet 40 conveyed by the conveyor 110. The tray storage 430 is a device or area for storing the tray 30 in which the components are stored. The tray assembly pallet 40 containing the components is carried by the conveyor 110. Details of the tray assembly 400 will be described later (see fig. 15).

The pallet registration unit 500 is a device and a region for reading identification information (hereinafter referred to as "pallet identification information") of the pallet 40 from the wireless tag 44 (see fig. 4) of the pallet 40 on which the pallet 30 accommodating the components is mounted by the reader 501. Details of the pallet registration unit 500 will be described later (see fig. 16).

The pallet feeding unit 600 is a device and a region for performing the operation of storing the tray assembly pallet 40 in the cassette 50. In addition, the pallet feeding unit 600 performs a work of placing a cassette (hereinafter referred to as a "holding cassette") 50 holding the pallet 40 for pallet assembly on the AGV 60. Details of the pallet feeding section 600 will be described later (see fig. 16). The AGV60 is moved to a place of the tray member supply device 20, a place of the pallet automatic warehouse 800, or the like by placing the storage cassette 50 thereon, for example.

According to the structure of the tray processing apparatus 100 shown in fig. 2, the operations of removing the tray 30 from the pallet 40 or assembling the tray 30 to the pallet 40 can be automatically performed. Hereinafter, the description will be made in detail.

< Structure of component mounting device >

Fig. 3 is a schematic diagram showing a configuration example of the component mounting device 5. Next, the component mounting device 5 will be described in detail with reference to fig. 3.

As shown in fig. 3, the component mounting device 5 includes a component mounting device main body 10 and a tray component supply device 20. The component mounting device main body 10 includes a substrate carrying section 11 and a component mounting head 12. The substrate conveying section 11 is a device for conveying the substrate 13, and is constituted by a belt, a chain, a roller, or the like, for example. The substrate conveying section 11 may be modified by another term called a conveyor. The component mounting head 12 is a device that performs a work of mounting components supplied from the tray component supply device 20 on the substrate 13 conveyed by the substrate conveying section 11.

The tray member supply device 20 includes a mechanism capable of loading and unloading the cassette 50, and a pallet moving device 21 capable of being lifted by a lifting mechanism. The tray component supply device 20 is detachable from the component mounting device main body 10.

The component mounting device main body 10 and the tray component supply device 20 perform the following operations, for example.

(S1 1) the pallet moving means 21 moves to the same height position as one of the support rails 51 in the cassette 50, and pulls out the pallet 40 stored in the support rail 51 at the height position. The pallet moving device 21 carries the pallet 40 and moves to a predetermined height position (for example, the highest position).

(S12) the component mounting head 12 sucks a component from the tray 30 of the tray mounting tray 40 mounted on the tray moving device 21, and mounts the component to the substrate 13.

(S13) the substrate transport unit 11 transports the substrate 13 to a working device in the next step when the assembly of one or more components to the substrate 13 is completed.

When the components in the tray 30 are empty, the tray moving device 21 places the tray assembly tray 40 thereon, moves the tray assembly tray 40 to the same height position as the empty support rail 51 in the cassette 50, and stores the tray assembly tray 40 in the support rail 51 (S14). In addition, when the type of components to be supplied to the component mounting head 12 is changed, the pallet moving device 21 also holds the tray mounting pallet 40 being placed on the empty support rail 51, and pulls the tray mounting pallet 40 on which the tray 30 accommodating other types of components is mounted out of the other support rail 51 to move to a predetermined height position.

When the components of the tray 30 in the magazine 50 are used up or when the production change adjustment for starting the production of the substrates 13 of other models is performed, the magazine 50 of the tray component supply apparatus 20 may be replaced with another magazine 50. In this case, the replacement cassette 50 can be dispensed by the AGV 60.

< positioning of tray >

Fig. 4 is a perspective view showing a structural example of the tray 30 and the pallet 40. Fig. 5 is a perspective view showing an example of a state after positioning the tray 30 with respect to the pallet 40. Next, the structure of the tray 30 and the pallet 40 and the positioning of the tray 30 on the pallet 40 will be described in detail with reference to fig. 4 and 5.

The tray 30 has a substantially quadrangular thin shape. A plurality of recesses 31 are formed in the upper surface of the tray 30, and the members are accommodated in the respective recesses 31. The tray 30 is made of, for example, resin.

The pallet 40 includes a pallet body 41, pallet positioning pieces 42A and 42B, an engaging portion 43, and a wireless tag 44.

The pallet body 41 has a substantially quadrangular flat plate shape. The pallet body 41 is made of a magnetic material.

The engaging portion 43 is a member provided on the front side E1 of the pallet main body 41 and engaged with the pallet moving device 21 of the pallet feeding device 20. The pallet moving device 21 is engaged with the engaging portion 43, and can pull out the pallet 40 from the cassette 50 or can store the pallet 40 in the cassette 50.

The tray positioning pieces 42A, 42B have elongated protruding shapes, and are provided on the upper surface of the pallet body 41. For example, the tray positioning piece 42A is provided parallel to the front side E1 of the pallet body 41, and the tray positioning piece 42B is provided parallel to the left side E2 of the pallet body 41. Therefore, the front side F1 and the left side F2 of the tray 30 are brought into contact with the tray positioning pieces 42A and 42B, respectively, whereby the tray 30 can be positioned with respect to the pallet 40.

To fix the position of the tray 30, a magnetic bar 70 as an example of a tray fixing tool is used. The magnetic bar 70 has a substantially bar-like shape. The magnetic rod 70 has a magnetic portion 72 on the lower surface (see fig. 11A and 11B). Details of the magnetic rod 70 will be described later (see fig. 11A and 11B).

After the tray 30 is positioned by the tray positioning pieces 42A, 42B, as shown in fig. 4, the two magnetic bars 70 are arranged on the pallet 40 so as to be in contact with (contact with) the remaining two sides (the rear side F3 and the right side F4 in fig. 4) of the tray 30. The pallet 40 is made of a magnetic material, and thus the two magnetic bars 70 are firmly fixed to the upper surface of the pallet 40. As a result, as shown in fig. 5, the tray 30 is fixed in four directions, and does not shift in position in the XY plane direction of the pallet 40.

The wireless tag 44 is a circuit capable of reading information by wireless. The wireless tag 44 may be modified as RFID (Radio Frequency IDentification). The wireless tag 44 may be provided at an end of the upper surface or the lower surface of the pallet body part 41. The wireless tag 44 stores pallet identification information. The pallet registration unit 500 reads pallet identification information from the wireless tag 44 by the reader 501. The details of the reading of the wireless tag 44 will be described later (see fig. 16).

The two-dimensional code 45 is provided on the upper surface of the tray 30. The two-dimensional code 45 may be modified as a QR code (registered trademark). The two-dimensional code 45 includes component information as information for identifying the component stored in the tray 30. The pallet registration unit 500 reads the component information indicated by the two-dimensional code 45 by the camera 502. Details of the identification of the two-dimensional code 45 will be described later (see fig. 16).

< Structure of cassette >

Fig. 6 is a perspective view showing a structural example of the cassette 50. Next, the structure of the cassette 50 will be described in detail with reference to fig. 6.

The cassette 50 has a substantially rectangular parallelepiped shape, and is composed of a bottom plate 52, a top plate 53, a left side plate 54A, and a right side plate 54B. I.e., the front and rear openings of the cassette 50.

In the left side plate 54A and the right side plate 54B, a plurality of support rails 51 parallel to the bottom plate 52 are provided at the same height position, respectively. A pair of left and right support rails 51 support one tray assembly pallet 40. That is, the cassette 50 can hold the tray assembly pallet 40 in the number corresponding to the number of the pair of left and right support rails 51.

< construction and operation of pallet collecting part >

Fig. 7 is a schematic diagram showing a configuration example of the pallet collecting part 200. Next, the structure and operation of the pallet collecting unit 200 will be described in detail with reference to fig. 7.

The pallet collecting unit 200 includes a cassette conveying device 210, a pallet collecting table 220, a driving unit 230, and a pallet pushing device 240.

The cassette handling device 210 is a device that handles the cassette 50. The cassette conveying device 210 includes an XY stage 211 that is movable in the XY axis direction, and an end effector 212 that is connected to the XY stage 211 and movable in the Z axis direction. The end effector 212 has a mechanism capable of holding the cassette 50 from above.

The pallet recovery table 220 is a table on which the cassette 50 is placed. The pallet recovery table 220 is disposed above the driving section 230.

The driving unit 230 is a device for lifting and lowering the pallet collecting table 220. In addition, the driving unit 230 rotates the pallet collecting table 220 by 90 degrees.

The pallet pushing device 240 is a device that pushes out the pallet 40 in the cassette 50 toward the conveyor 110.

The pallet collecting unit 200 performs the following operations, for example.

(S21) the AGV60 carrying the cassette 50 storing the tray assembly pallet 40 reaches the vicinity of the pallet recovery table 220.

(S22) the cassette transport device 210 drives the XY stage 211 and the end effector 212 to pick up the cassette 50 on the AGV60, and places the picked-up cassette 50 on the pallet collecting table 220.

(S23) the driving part 230 rotates the pallet recovery table 220 by 90 degrees. Thereby, the front surface of the cassette 50 is changed from the Y-axis direction to the X-axis direction.

(S24) the driving unit 230 moves up (or down) the pallet collecting table 220 so that one pallet 40 in the cassette 50 is moved to the height position of the pallet pushing-out device 240.

The pallet pushing-out device 240 pushes out the pallet 40 at this position from the cassette 50 (S25). The pushed tray assembly pallet 40 is placed on the conveyor 110. The operation of the pallet pushing device 240 will be described later in detail (see fig. 8A and 8B).

(S26) the driving part 230 and the pallet pushing device 240 repeat S24 and S25 until all the tray assembly pallets 40 in the cassette 50 are pushed out.

The cassette transfer device 210 picks up all the cassettes 50 from which the tray assembly pallet 40 was pushed out, and places the picked-up cassettes 50 on the AGV60 (S27). However, the pallet 40 may be mounted on the remaining portion of the tray 50.

Fig. 8A is a schematic diagram showing an example of a state before the tray pushing device 240 pushes out the tray 40 in the cassette 50. Fig. 8B is a schematic diagram showing an example of a state after the tray pushing device 240 pushes out the tray 40 in the cassette 50. Next, operations of S24 and S25 in fig. 7 will be described in detail with reference to fig. 8A and 8B.

The pallet pushing device 240 includes a rod-shaped pusher 241 slidable in the X-axis direction.

As shown in fig. 8A, in S24, the pusher 241 is positioned at the same height as one tray assembly pallet 40.

As shown in fig. 8B, in S25, the pallet pushing device 240 slides the pusher 241 toward the pallet 40 (positive direction of the X axis). Thus, the tray assembly pallet 40 having the same height as the pusher 241 is pushed out by the pusher 241 and placed on the conveyor 110.

< Structure and action of tray removal portion >

Fig. 9 is a schematic diagram showing a structural example of the tray removing portion 300. Fig. 10 is a perspective view of a main part showing a structural example of the tray removing section 300. Next, the structure and operation of the tray removing unit 300 will be described in detail with reference to fig. 9 and 10.

The tray removing unit 300 includes a tray removing unit 310, a magnetic bar removing device 320, and a tray collecting unit 330.

The tray removing unit 310 is a device for removing the tray 30 from the pallet 40. The tray removing unit 310 includes: an XY stage 311 movable in the XY axis direction; a lifting part 312 connected to the XY stage 311 and movable in the Z-axis direction; and a tray suction head 313 connected to the lifting/lowering unit 312 and capable of sucking the tray 30.

The magnetic bar removing device 320 is an example of a releasing unit that releases the state of fixing the tray 30 to the pallet 40. For example, the magnetic bar removing device 320 is a device that removes the magnetic bar 70 from the pallet 40. The magnetic bar removing apparatus 320 includes: an XY stage 321 that is movable in the XY axis direction; a Z stage 322 connected to the XY stage 321 and movable in the Z axis direction; and a magnetic rod transfer head 323 connected to the Z stage 322 and capable of transferring the magnetic rod 70.

The tray collection unit 330 is a device or place for placing the tray 30 collected from the pallet 40.

The tray removing unit 300 performs the following operations, for example.

(S31) as shown in FIG. 10, the magnetic rod removing apparatus 320 drives the XY stage 321, the Z stage 322, and the magnetic rod transfer head 323 to remove the magnetic rod 70 from the pallet 40 conveyed by the conveyor 110, and places the magnetic rod 70 at a predetermined position separated from the pallet 30 on the pallet 40. The operation of the magnetic rod transfer head 323 will be described later in detail (see fig. 12).

(S32) as shown in FIG. 10, the tray removing unit 310 drives the XY stage 311, the lifting unit 312, and the tray suction head 313 to suction the tray 30 on the pallet 40 to the tray suction head 313, and transfers the suctioned tray 30 to the tray collecting unit 330.

< Structure of magnetic rod >

Fig. 11A is a perspective view showing a structural example of the magnetic rod 70. Fig. 11B is a longitudinal cross-sectional view showing a structural example of the magnetic rod 70. Next, the structure of the magnetic bar 70 will be described in detail with reference to fig. 11A and 11B.

The magnetic rod 70 includes a main body 71, a magnetic portion 72, a recess 73, rod portions 74A, 74B, and a shaft portion 75.

The main body 71 has a substantially rod-like shape in a transverse direction. The magnetic portion 72 is provided on the lower surface of the main body 71 and is attracted to the upper surface of the pallet 40. The recess 73 is formed along the longitudinal direction on the upper surface of the main body 71.

The shaft portions 74A and 74B are attached to both ends of the main body 71 by shaft portions 75, respectively. The lever portions 74A, 74B have a slope shape toward the front end on the side farther from the shaft portion 75 and the lower surface is close to the upper surface. The lever portions 74A and 74B are swingable about the shaft portion 75.

< Structure and action of magnetic rod transfer head >

Fig. 12 is a perspective view showing a configuration example of the magnetic rod transfer head 323. Next, the structure of the magnetic rod transfer head 323 will be described in detail with reference to fig. 12.

The magnetic rod transfer head 323 has a substantially rectangular parallelepiped shape in a transverse direction. The magnetic rod transfer head 323 includes a holding portion 324, lever operating portions 325A and 325B, pins 326A and 326B, and levers 327A and 327B.

The holding portion 324 is formed near the center of the magnetic rod transfer head 323. The upper surface of the holding portion 324 is connected to the Z stage 322 of the magnetic bar removing device 320.

The pins 326A and 326B have a bar-like shape extending downward from the lower surface of the holding portion 324. The pins 326A and 326B have a thickness and a shape capable of being inserted into the concave portion 73 of the magnetic rod 70. The bar magnet transfer head 323 can move the pins 326A and 326B in the longitudinal direction to bring the distance between the pin 326A and the pin 326B closer to or farther from each other.

The lever operation portions 325A and 325B are connected to both ends of the holding portion 324 in the longitudinal direction.

The levers 327A and 327B have rod-like shapes that are retractable downward from the lower surfaces of the lever operation portions 325A and 325B, respectively. The positions of the rods 327A, 327B correspond to the positions of the rod portions 74A, 74B of the magnetic rod 70, respectively. That is, the interval between the rod 327A and the rod 327B corresponds to the interval between the rod portion 74A and the rod portion 74B of the magnetic rod 70.

Fig. 13 is an explanatory diagram of the operation of the magnetic rod transfer head 323. Next, the operation of the magnetic rod transfer head 323 for transferring the magnetic rod 70 will be described in detail with reference to fig. 13.

(S31) as shown in FIG. 13 (a), the bar magnet transfer head 323 inserts the tips of the pins 326A, 326B into the recess 73 of the bar magnet 70.

(S32) as shown in FIG. 13 (b), the bar 327A is extended downward by the bar transfer head 323, and the tip of the bar portion 74A of the bar 70 is pressed upward. Thus, according to the lever principle, the tip of the lever 74A becomes a force point, the portion P of the slope lower surface of the lever 74A near the shaft 75 becomes a fulcrum, the shaft 75 of the lever 74A becomes an action point, and the main body 71 of the magnetic rod 70 is pushed up. Therefore, the attraction force of the magnetic portion 72 of the magnetic rod 70 becomes weak.

(S33) as shown in FIG. 13 (c), the bar 327B is extended downward by the bar transfer head 323, and the bar portion 74B of the bar 70 is pressed upward. Thus, the main body 71 of the magnetic rod 70 is pushed up as described above. Therefore, the attraction force of the magnetic portion 72 of the magnetic rod 70 is further weakened. In addition, since the pins 326A and 326B are inserted into the concave portions 73 of the magnetic rod 70 in S31, even when the operations of S32 and S33 are performed, the magnetic rod 70 does not shift or jump. Therefore, the components in the tray 30 do not scatter when the magnetic bar 70 is removed.

(S34) As shown in FIG. 13 (c), the bar magnet transfer head 323 widens the interval between the pins 326A, 326B until abutting the end of the recess 73.

(S35) As shown in FIG. 13 (d), the bar magnet transfer head 323 is raised in a state in which the distance between the pins 326A, 326B is widened. Thereby, the magnetic rod transfer head 323 can lift the magnetic rod 70.

(S36) the magnetic rod transfer head 323 transfers the lifted magnetic rod 70 to a predetermined position separated from the tray 30 on the pallet 40.

< Structure and action of tray Assembly part >

Fig. 14 is a schematic diagram showing a structural example of the tray fitting 400. Fig. 15 is a perspective view of a main part showing a structural example of the tray assembly 400. Next, the structure and operation of the tray mounting portion 400 will be described in detail with reference to fig. 14 and 15.

The tray assembly unit 400 includes a tray transfer unit 410, a magnetic bar moving device 420, and a tray storage unit 430.

The tray mounting portion 400 is a device for mounting the tray 30 accommodating the components on the pallet 40. The tray fitting portion 400 has: an XY stage 411 that is movable in the XY axis direction; a lifting unit 412 connected to the XY stage 411 and movable in the Z-axis direction; and a tray transfer head 413 connected to the lifting unit 412 and capable of transferring the tray 30.

The bar magnet moving device 420 is an example of a pallet fixing tool, and is a device for moving the bar magnet 70 of the pallet 40. The bar magnet moving device 420 has: an XY stage 421 movable in the XY axis direction; a Z stage 422 connected to the XY stage 421 and movable in the Z axis direction; and a magnetic rod transfer head 423 connected to the Z stage 422 and capable of transferring the magnetic rod 70. The magnetic rod transfer head 423 may have the same configuration as the magnetic rod transfer head 323 described with reference to fig. 12 and 13.

The tray storage 430 is a device or place for storing the tray 30 in which the components are stored.

The tray mounting unit 400 performs the following operations, for example.

(S41) As shown in FIG. 15, the tray assembly unit 400 drives the XY stage 411, the lifting unit 412, and the tray transfer head 413 to transfer the tray 30, in which the components are accommodated, of the tray storage unit 430 onto the pallet 40 conveyed by the conveyor 110. At this time, as shown in fig. 5, the tray mounting portion 400 makes the sides of the tray 30 abut against the tray positioning pieces 42A, 42B of the pallet 40.

(S42) as shown in fig. 15, the bar magnet moving device 420 drives the XY stage 421, the Z stage 422, and the bar magnet transfer head 423 to remove the bar magnet 70 from the pallet 40. As shown in fig. 5, the magnetic rod 70 is placed at the position of the fixed tray 30. Thereby, the tray 30 is positioned and fixed.

< construction and operation of pallet registration part and pallet delivery part >

Fig. 16 is a perspective view of a main part showing a configuration example of the pallet registration unit 500 and the pallet delivery unit 600. Next, the pallet registration unit 500 and the pallet delivery unit 600 will be described in detail with reference to fig. 16.

The pallet registration unit 500 is connected to a reader 501 and a camera 502 via a wired LAN (Local Area Network) or a wireless LAN. The reader 501 is a device for reading the wireless signal of the wireless tag 44 of the pallet 40. The pallet registration unit 500 can transmit and receive information to and from the server 900 through a communication network such as a wired LAN, a wireless LAN, the internet, a cellular phone network, or a combination thereof.

The pallet registration unit 500 reads pallet identification information of the pallet 40 from the wireless tag 44 of the pallet 40 by the reader 501. The pallet registration unit 500 reads the component information indicated by the two-dimensional code 45 attached to the pallet 30 mounted on the pallet 40 by the camera 502. The pallet registration unit 500 associates pallet identification information read by the reader 501 with component information read by the camera 502, and transmits the information to the server 900. The server 900 associates the transmitted component information with pallet identification information and registers the same in the storage unit 902. Thus, the server 900 can manage the relationship among the pallet 40, the tray 30, and the components. The part information is, for example, part name, manufacturer name, product lot number, size and shape data and/or specification information of the part. The pallet identification information is, for example, an ID or serial number that can unambiguously identify the pallet 40. It should be noted that a plurality of trays 30 may be mounted on one pallet 40. By using the pallet identification information, it is also possible to identify and manage such pallets 40 equipped with a plurality of pallets 30.

The pallet feeding section 600 includes a pallet transfer robot 601. The pallet transfer robot 601 is a device that stores the pallet 40 accommodating the components in the cassette 50. The pallet transfer robot 601 may determine the cassette 50 to which the pallet 40 is to be stored, which is to be mounted on the pallet. For example, the pallet transfer robot 601 determines which of the cassettes 50 to the pallet automatic warehouse 800, the cassettes 50 to the mounting substrate production line 1A (see fig. 1), and the cassettes 50 to the mounting substrate production line 1B (see fig. 1) the pallet assembly pallet 40 containing the components is stored in based on the pallet identification information. The pallet transfer robot 601 may pick up the cassette 50 and place the cassette in the AGV60 corresponding to the destination of the cassette 50.

< Structure and action of pallet automatic warehouse >

Fig. 17 is a side view showing a structural example of pallet automatic warehouse 800. Fig. 18 is a perspective view of a main part showing a structural example of the pallet accommodating section 810. Fig. 19 is an a-direction view of pallet automation warehouse 800 shown in fig. 17. That is, fig. 19 is a view of pallet automatic warehouse 800 shown in fig. 17 viewed in the positive direction of the X-axis. Fig. 20 is a ZX cross-sectional view of the pallet pullout apparatus 823 shown in fig. 17. Next, the structure and operation of pallet automatic warehouse 800 will be described with reference to fig. 17 to 20.

The pallet automatic warehouse 800 is a warehouse capable of automatically warehousing, storing, and delivering pallets 40 (in other words, pallet assembly pallets 40) in a state where the pallets 30 are assembled. The pallet automatic warehouse 800 includes a base portion 801, a pallet storage portion 810, a warehouse-in/out workstation (station) 840, a cassette conveying device 850, and an in-warehouse pallet conveying device 820.

The base portion 801 forms a floor surface of the pallet automatic warehouse 800.

The pallet receiving part 810 is a device for receiving (storing) the pallet 40. For example, as shown in fig. 18, the pallet housing portion 810 includes a plurality of partition plates 811 extending upward. The distance W between the partition plates 811 adjacent to each other may be the same size as the opening width of the magazine 50 of the tray member supply device 20. In addition, a plurality of ribs 812 for supporting the housed tray assembly pallet 40 are provided in the partition plate 811. Thus, the pallet accommodating portion 810 can accommodate the tray-mounted pallet 40 at each position in the height direction defined by the ribs 812.

The in-out workstation 840 is a place for receiving the pallet 40 of the warehouse-in object or delivering the pallet 40 of the warehouse-out object. For example, in the in-out workstation 840, a table 841 is disposed on the base portion 801.

The cassette transfer device 850 is a device for transferring the cassette 50 between the AGV60 and the table 841 of the in-out workstation 840. For example, as shown in fig. 19, the cassette conveying device 850 grips the cassette 50 of the pallet 40 to be stored, which is conveyed from the AGV60, and places the cassette on the table 841 of the in-out/in-out workstation 840. The cassette transfer device 850 grips the cassette 50 of the tray mounting pallet 40 to be stored on the table 841 of the access station 840 and places the cassette on the AVG 60.

As shown in fig. 17, a relay rack 842 for exchanging the pallet 40 to be put in and out with the operator may be fixedly provided on a table 841 of the in-out workstation 840. The relay rack 842 may have the same structure as the cassette 50. For example, the operator manually stores the pallet 40 to be put in storage in the relay rack 842. For example, the operator manually takes out the tray mounting pallet 40 to be stored in the rack 842 for relay delivery.

The in-warehouse pallet transfer device 820 transfers the pallet 40 between the pallet storage section 810 and the in-warehouse workstation 840. For example, the in-warehouse pallet transfer device 820 pulls out the pallet 40 from the cassette 50 or the relay rack 842 on the table 841 of the in-warehouse workstation 840, and stores the pallet in an empty position of the pallet storage section 810. For example, the in-warehouse pallet transfer device 820 pulls out the pallet 40 designated for warehouse from the pallet storage section 810, and stores the pallet in the cassette 50 or the relay rack 842 on the table 841 of the warehouse-in/warehouse-out workstation 840.

Next, the structure of the in-store pallet transport device 820 will be described in detail with reference to fig. 17, 19, and 20.

The in-warehouse pallet transfer device 820 includes an upper rail 821, a lower rail 822, a pallet pull-out device 823, a lifting device 829, and a horizontal movement device 835.

The lower rail 822 may be provided along (for example, parallel to) an opening surface of the pallet accommodating section 810 on the base section 801. The upper rail 821 may be disposed parallel to the lower rail 822 at the top surface of the pallet automatic warehouse 800.

The elevating device 829 is a device that moves (in other words, elevates) the pallet pulling-out device 823 in the up-down direction.

The horizontal movement device 835 is a device for moving the lifting device 829 in the horizontal direction along the upper rail 821 and the lower rail 822. For example, the elevating device 829 is connected to the upper rail 821 and the lower rail 822 so as to be horizontally movable, and moves in the horizontal direction along the upper rail 821 and the lower rail 822 by driving the horizontal direction moving device 835. The horizontal movement device 835 moves the lifting device 829 in the horizontal direction, and the lifting device 829 moves the pallet drawing device 823 (see fig. 19 and 20) in the vertical direction, so that the pallet drawing device 823 can move to an arbitrary position of the pallet storage section 810.

As shown in fig. 19 and 20, the pallet drawing device 823 includes a lift table 824, a pallet drawing lift portion 825, a pallet drawing portion 827, and a pallet transfer rack 826.

The elevating table 824 forms the bottom surface of the pallet drawing device 823, and is elevated by the driving of the elevating device 829.

The pallet pulling-out/lifting portion 825 is a device that extends upward from the lifting table 824 and moves (in other words, lifts) the pallet pulling-out portion 827 in the up-down direction.

The pallet transfer rack 826 is a rack for transferring the pallet 40 between the warehouse-in/warehouse-out station 840 and the pallet storage section 810. The tray transfer rack 826 may be capable of storing the same number of trays 40 as the cassettes 50.

The pallet pulling-out unit 827 pulls out the pallet 40 from the cassette 50 or the relay rack 842 of the warehouse-in/warehouse-out station 840, and stores the pallet 40 in the pallet transfer rack 826. The pallet drawing-out section 827 pushes out the pallet 40 stored in the pallet transfer rack 826, and stores it in the pallet storage section 810. The pallet drawing unit 827 draws out the pallet 40 from the pallet storage unit 810 and stores the pallet 40 in the pallet transfer rack 826. The pallet pull-out unit 827 pushes out the pallet 40 stored in the pallet transfer rack 826, and stores the pallet in the cassette 50 or the relay rack 842 of the warehouse-in/warehouse-out station 840.

When the tray 40 is pulled out from the cassette 50 and stored in the tray transfer rack 826, the tray pulling-out unit 827 may pull out the tray 40 in the order from the upper stage to the lower stage of the cassette 50. When the tray 40 is pushed out from the tray transfer rack 826 to the cassette 50, the tray pullout unit 827 may push out the tray 40 in the order from the lower stage to the upper stage of the tray transfer rack 826. The pallet pulling-out section 827 may include a pallet pulling tool 830 for pulling out the pallet 40, and may pull out the pallet 40 using the pallet pulling tool 830.

The pallet pullout unit 827 may include a reader 828. The reader 828 may read pallet identification information from the wireless tag 44 of the pallet 40 when the pallet assembly pallet 40 is pulled out or pushed out by the pallet pull-out portion 827. This makes it possible to identify pallet identification information of the pallet 40 to be put in and out.

The operations of the cassette conveying device 850, the in-store pallet conveying device 820, the pallet pulling-out device 823, and the like may be controlled by the automatic warehouse control unit 870. The automatic warehouse control unit 870 may be provided as a predetermined control device at a predetermined position in the pallet automatic warehouse 800. However, the automatic warehouse control unit 870 is not limited to the case of being provided inside the pallet automatic warehouse 800, and may be provided outside the pallet automatic warehouse 800.

< System Structure of tray Member management System >

The tray member management system includes a server 900, a job instruction unit 81, a pallet automatic warehouse 800, a tray processing apparatus 100, and a registration apparatus 1000.

Server

The server 900 includes at least a control unit 901 and a storage unit 902. The control unit 901 may be modified by a processor or other term CPU (Central Processing Unit). The storage unit 902 may be modified by other terms such as a memory. The storage unit 902 may be formed of a ROM (Real-Only Memory) and RAM (Random Access Memory). The storage unit 902 may further include a memory (e.g., a flash memory or HDD (Hard Disk Drive)) as an example of a nonvolatile storage medium. The control unit 901 can execute a program in coordination with the storage unit 902, thereby realizing the processing shown in the present embodiment.

The storage unit 902 stores pallet registration information 903, pallet location information 904, and component location information 905.

The pallet registration information 903 is information that associates pallet identification information with component information. That is, pallet registration information 903 is information indicating which pallet 40 is mounted with which pallet 30 storing which component is mounted on pallet mounting pallet 40 stored in pallet automatic warehouse 800.

The pallet location information 904 is information that correlates pallet identification information with address information. The address information is information indicating the position of the shelf of the pallet storage section 810. That is, pallet information 904 indicates which shelf in pallet storage 810 stores which pallet 40.

The component location information 905 is information that associates component information with address information. That is, the component placement information 905 is information indicating which component is stored in which shelf of the pallet storage unit 810. Note that, the component placement information 905 can be created based on the pallet registration information 903 and the pallet placement information 904, and therefore the server 900 may not hold the component placement information 905.

Work instruction part

The job instruction unit 81 is a device for instructing the pallet automatic warehouse 800 to store (warehouse in) or to send (warehouse out) the pallet 40. The instruction may be performed by the operator or automatically by the job instruction unit 81. Examples of the scenario of the instruction delivery include component replenishment based on the remaining number of components and preparation based on a production plan. As an example of a scenario in which storage is instructed, a request from the tray processing apparatus 100 may be given.

Automatic warehouse for supporting plate

The pallet automatic warehouse 800 may include a cassette conveying device 850, an in-warehouse pallet conveying device 820, an operation input unit 860, a reader 828, and an automatic warehouse control unit 870.

The cassette conveying device 850 and the in-house pallet conveying device 820 are as described above with reference to fig. 17 to 20.

The operation input unit 860 is a device that receives an operation or input to the pallet automatic warehouse 800. Examples of the operation input unit 860 include a touch panel, a bar code reader, and a wireless reader. For example, the operator can operate the operation input unit 860 to request a storage operation (warehouse-in operation) or a delivery operation (warehouse-out operation) of the pallet 40 for the pallet automatic warehouse 800.

As shown in fig. 20, a reader 828 is provided in the tray pull-out portion 827 and reads the wireless tag 44 of the tray 40. The reader 828 may transmit pallet identification information read from the wireless tag 44 to the automated warehouse control section 870.

The automated warehouse control section 870 may be a control device that controls the pallet automated warehouse 800. The processing by the automatic warehouse control unit 870 can be realized by performing coordinated operations with a processor, a memory, and the like included in the apparatus. The automatic warehouse control unit 870 includes a storage processing unit 871, a delivery processing unit 872, and an information updating unit 873.

When receiving the instruction of storage from the work instruction unit 81, the storage processing unit 871 controls the operation of the in-store pallet conveying device 820 to mount the pallet 40 on the empty shelf storage pallet of the pallet storage unit 810.

When receiving the instruction for delivery from the job instruction unit 81, the delivery processing unit 872 controls the in-house pallet conveying device 820 to deliver the tray assembly pallet 40 from the pallet storage unit 810. For example, the transmission processing unit 872 transmits pallet identification information included in the transmitted instruction to the server 900, and receives address information associated with the pallet identification information by the pallet location information 904 from the server 900. The delivery processing unit 872 controls the in-warehouse pallet conveying device 820 to deliver the pallet 40 from the shelf of the pallet storage unit 810 indicated by the received address information.

The information update unit 873 updates the pallet information 904 of the storage unit 902 of the server 900 in response to the storage operation or the delivery operation. For example, when the tray mounting pallet 40 is stored in the shelf of the pallet storage unit 810 during the storage operation, the information update unit 873 registers pallet location information 904 in which pallet identification information of the tray mounting pallet 40 is associated with address information of the shelf in the storage unit 902 of the server 900. For example, when the tray mounting pallet 40 is sent out from the shelf of the pallet storage unit 810 during the sending-out operation, the information update unit 873 deletes the pallet information 904 obtained by associating the pallet identification information of the tray mounting pallet 40 with the address information of the shelf from the storage unit 902 of the server 900.

Tray treatment device

The tray processing apparatus 100 includes a tray registration unit 500, a reader 501, and a camera 502.

As described with reference to fig. 16, the pallet registration unit 500 may generate pallet registration information 903 by associating pallet identification information read from the wireless tag 44 of the pallet 40 by the reader 501 with component information read from the two-dimensional code 45 of the pallet 30 by the camera 502, and register the pallet registration information 903 in the storage unit 902 of the server 900.

Registration device

The registration device 1000 is provided in, for example, a preparation area 83 of a factory floor, and is used when an operator manually registers pallet registration information 903 in a storage unit 902 of the server 900. The registration device 1000 includes a pallet registration unit 1001 and an input unit 1002.

The input unit 1002 is, for example, a device capable of reading both the two-dimensional code 45 of the tray 30 and the wireless tag 44 of the pallet 40.

The pallet registration unit 1001 may generate pallet registration information 903 by associating pallet identification information read from the wireless tag 44 of the pallet 40 by the operator via the input unit 1002 with component information read from the two-dimensional code 45 of the pallet 30, and register the pallet registration information 903 in the storage unit 902 of the server 900.

The input unit 1002 may be a keyboard. In this case, the operator may input pallet identification information of the pallet 40 and component information of the pallet 30 by operating the keyboard, and the pallet registration unit 1001 may generate pallet registration information 903 by associating the input pallet identification information with the component information, and may register the pallet registration information 903 in the storage unit 902 of the server 900.

< modification of pallet automatic warehouse >

Fig. 22 is a plan view showing a modification of the structure of pallet automatic warehouse 800.

As shown in fig. 22, the pallet automatic warehouse 800 according to the modification may include a case having a prism extending upward, and a pallet storage section 810, a warehouse-in/out workstation 840, a turning device 831, a lifting device 829, and a pallet drawing device 823 may be provided in the case.

The pallet storage 810 is disposed along each inner wall surface of the housing. The in-out and in-out workstation 840 is disposed on one side of the prism of the housing. The turning device 831 is arranged in the center of the bottom surface of the case and can turn substantially parallel to the bottom surface. The elevating device 829 is fixed to the pivoting device 831 and extends upward. The pallet pulling-out device 823 is connected to the lifting device 829, and the lifting device 829 can lift and lower the pallet pulling-out device 823.

The automated warehouse control unit 870 can move the pallet drawing device 823 to a desired position of the pallet storage unit 810 or to a position of the warehouse-in/out workstation 840 by rotating the turning device 831 and lifting the pallet drawing device 823 by the lifting device 829. Accordingly, the pallet 40 can be mounted to the shelf of the pallet storage unit 810 or the pallet 40 can be pulled out from the shelf of the pallet storage unit 810 by the structure of the pallet automatic warehouse 800 shown in fig. 22.

< summary of the invention >

The following will be presented in detail.

(manifestation 1)

The pallet automatic warehouse (pallet storage apparatus) 800 includes: a pallet accommodating section 810 capable of accommodating the pallet 40 for supplying the pallet 30 accommodating the component to the component taking-out position of the component mounting apparatus 5 for mounting the component on the substrate 13 in a state where the pallet 30 is assembled; a warehouse-in/out workstation 840 for taking out and putting in the tray mounting pallet 40 as the pallet 40 in a state where the tray 30 is mounted; and an in-warehouse pallet transfer device (pallet transfer unit) 820 that transfers the pallet 40 placed on the in-warehouse workstation 840 to the pallet storage unit 810 or takes out the pallet 40 from the pallet storage unit 810 and transfers it to the in-warehouse workstation 840.

Accordingly, the pallet (in other words, the pallet mounting pallet 40) on which the pallet storing the components is mounted can be automatically put in and stored in and out of the warehouse, and thus the component replenishment work to the component mounting device 5 can be efficiently performed. Further, since the tray 30 storing the components not used by the component mounting device 5 can be stored in a state of being attached to the pallet 40, the task of removing the tray 30 from the pallet 40 is not required.

(manifestation 2)

In the description of expression 1, the in-store pallet conveying device 820 may be provided with a pallet drawing device 823 that draws out the pallet 40 from the pallet storage section 810.

This allows the tray assembly pallet 40 to be automatically pulled out from the pallet storage section 810.

(manifestation 3)

In the description of expression 3, the in-store pallet conveying device 820 may further include a pallet transfer rack 826 capable of accommodating a plurality of pallet 40 mounted thereon, which are pulled out from the pallet accommodating section 810 by the pallet pulling-out device 823.

Thus, the in-warehouse pallet transfer device 820 can collectively transfer the plurality of pallet assembly pallets 40.

(manifestation 4)

In the description of expression 3, the in-warehouse pallet transfer device 820 may further include: a lifting device 829 for lifting and lowering the pallet drawing device 823 and the pallet transfer rack 826; and a horizontal direction moving device 835 for moving the pallet drawing device 823 and the pallet transfer rack 826 in the horizontal direction.

Thus, the in-warehouse pallet conveying device 820 can be freely moved in the vertical direction and the horizontal direction.

(manifestation 5)

In any of expressions 2 to 4, the pallet 40 may be provided with a wireless tag 44, the wireless tag 44 storing pallet identification information as identification information of the pallet 40, and the pallet drawing device 823 may be provided with a reader (reading device) 828 capable of reading the pallet identification information from the wireless tag 44 of the drawn pallet 40.

This allows the pallet identification information of the pallet 40 pulled out by the pallet pulling-out device 823 to be identified.

(manifestation 6)

In the description of expression 5, the pallet automatic warehouse (pallet storage apparatus) 800 may further include an information updating unit 873, and the information updating unit 873 may register pallet location information 904 obtained by associating pallet identification information of the pallet 40 read by the reader 828 with address information indicating an address of the pallet storage unit 810 storing the pallet 40 by the in-warehouse pallet conveying apparatus 820 in the predetermined storage unit 902.

Thus, which tray assembly pallet 40 is stored in which pallet storage section 810 can be identified by pallet position information 904.

(manifestation 7)

In the description of expression 6, the pallet automatic warehouse (pallet storage apparatus) 800 may further include a delivery processing unit 872, and the delivery processing unit 872 may refer to pallet registration information 903 obtained by associating pallet identification information of the pallet 40 with component information indicating a component of the pallet 30 to which the pallet 40 is attached, determine pallet identification information associated with the component information instructed to be delivered, refer to pallet location information 904, determine address information associated with the determined pallet identification information, and control the in-warehouse pallet transport apparatus 820 to deliver the pallet 40 from the position of the pallet storage unit 810 indicated by the determined address information.

Thereby, the tray assembly pallet 40 holding the component indicated by the designated component information can be sent out from the pallet accommodating section 810.

(manifestation 8)

In the description of expression 7, the information updating unit 873 may delete the pallet position information 904 on the pallet 40 sent from the sending processing unit 872 from the storage unit 902.

This can delete the pallet information 904 of the pallet 40 that has been sent out from the storage unit 902.

(manifestation 9)

In the description of expression 5, the pallet automatic warehouse (pallet storage apparatus) 800 may further include an information updating unit 873, wherein the information updating unit 873 refers to pallet registration information 903 obtained by associating pallet identification information of the pallet 40 with component information indicating a component of the pallet 30 mounted on the pallet 40, identifies component information associated with the pallet identification information read by the reader 828, and registers, in a predetermined storage unit 902, component information 905 obtained by associating the identified component information with address information indicating an address of a pallet storage unit 810 storing the pallet 40 by the in-warehouse pallet conveying apparatus 820.

Thus, the tray mounting tray 40 holding which component is stored in which tray storage unit 810 can be identified by the component position information 905.

(manifestation 10)

In the description of expression 9, the pallet automatic warehouse (pallet storage apparatus) 800 may further include a delivery processing unit 872, and the delivery processing unit 872 may determine address information associated with the instructed component information based on the component location information 905, and control the in-warehouse pallet conveying apparatus 820 to deliver the pallet 40 from the position of the pallet storage unit 810 indicated by the determined address information.

(manifestation 11)

In the description of the expression 10, the information updating unit 873 may delete the component placement information 905 related to the tray mounting pallet 40 sent from the sending processing unit 872 from the storage unit 902.

Thereby, the information 905 on the parts of the tray assembly pallet 40 that has been sent out can be deleted from the storage unit 902.

(manifestation 12)

The tray member management system is provided with: a component mounting device 5 for mounting components stored in the tray 30 mounted on the pallet 40 on the substrate 13; a pallet automatic warehouse (pallet storage device) 800 that stores pallet 40 as pallet 40 in a state where pallet 30 is mounted; and a server 900 that manages component placement information 905 obtained by associating component information indicating components of the tray 30 with address information indicating a place where the tray mounting pallet 40 on which the tray 30 having the components stored is mounted is stored in the pallet automatic warehouse 800.

This enables management of the storage location of the tray assembly pallet 40 in the pallet automatic warehouse 800. Accordingly, the tray assembly pallet 40 can be taken into and out of the pallet automatic warehouse 800 as needed, and thus the component replenishment work to the component mounting device 5 can be efficiently performed. Further, since the tray 30 storing the components not used by the component mounting device 5 can be stored in a state of being attached to the pallet 40, the task of removing the tray 30 from the pallet 40 is not required.

(manifestation 13)

In the description of the expression 12, the tray component management system may further include an AGV (carrier) 60, and the AGV (carrier) 60 may carry the tray mounting pallet 40 out of the pallet automatic warehouse 800 and into the component mounting apparatus 5 or may carry the tray mounting pallet 40 out of the component mounting apparatus 5 and into the pallet automatic warehouse 800. Accordingly, since the tray assembly pallet 40 can be automatically loaded into and unloaded from the pallet automatic warehouse 800 by using the AGV60, the component replenishment work to the component mounting apparatus 5 can be efficiently performed.

The various embodiments have been described above with reference to the drawings, but the present application is not limited to this example. It is apparent to those skilled in the art that various modifications, corrections, substitutions, additions, omissions, and equivalents can be made within the scope of the claims, and these claims are also to be construed as falling within the technical scope of the present application. The components in the above embodiments may be arbitrarily combined within a range not departing from the gist of the application.

The present application is based on japanese patent application 2021-04373 (japanese patent application 2021-04373), filed 3/15 in 2021, the content of which is incorporated by reference.

Industrial applicability

The technique of the present invention is useful for improving efficiency of substrate manufacturing.

Description of the reference numerals

1: mounting substrate production line, 2: substrate supply device, 3: solder printing device, 4: solder inspection device, 5: component mounting device, 6: component mounting inspection device, 7: reflow soldering device, 8: welding inspection device, 9: mounting substrate recovery device, 10: component mounting device main body portion, 11: substrate carrying section, 12: component mounting head, 13: substrate, 20: tray member supply device, 21: pallet moving device, 30: tray, 31: recess, 40: pallet, 41: pallet body portions, 42A, 42B: tray spacer, 43: engagement portion, 44: wireless tag, 45: two-dimensional code, 50: cassette, 51: support rail, 52: bottom plate, 53: top plate, 54A: left side panel, 54B: right side plate, 60: AGV,61: feeder trolley, 70: magnetic bar, 71: body portion, 72: magnetic part, 73: recesses, 74A, 74B: lever portion, 75: shaft portion, 80: control room, 81: job instruction unit, 82: AGV operation management device, 83: preparation area, 84: substrate storage unit, 85: braid component storage portion, 86: tray component storage unit, 100: tray processing apparatus, 110, 111: conveyor, 200: pallet recovery unit, 210: cassette handling device, 211: XY table, 212: end effector, 220: pallet recovery table, 230: drive unit, 240: pallet pushing-out device, 241: pusher, 300: tray removal portion, 310: tray removing unit, 311: XY table, 312: lifting part, 313: tray adsorption head, 320: magnetic bar removal device, 321: XY table, 322: z stage, 323: magnetic rod transfer head, 324: holding portions 325A, 325B: lever operation parts 326A, 326B: pins, 327A, 327B: lever, 330: tray recovery unit, 400: tray assembly, 410: tray transfer unit, 411: XY table, 412: lifting part, 413: tray transfer head, 420: magnetic bar moving device 421: XY table, 422: z stage, 423: magnetic rod transfer head, 430: tray storage unit, 500: pallet registration unit, 501: reader, 502: camera, 600: pallet feeding unit, 601: pallet transfer robot, 700: a pallet storage unit, 701: storage shelf, 702: pallet transfer robot, 800: automatic pallet warehouse, 801: base portion, 810: pallet accommodating portion, 811: division plate, 812: rib, 820: warehouse pallet handling device 821: upper rail, 822: lower rail, 823: pallet pull out device, 824: elevating platform, 825: pallet pull-out lift 826: support plate transfer rack, 827: pallet pull-out part 828: reader, 829: lifting device, 830: pallet pull tool 831: swivel device 835: horizontal direction moving device, 840: warehouse-in and warehouse-out workstation, 841: station 842: relay rack, 850: cassette handling device, 860: operation input unit 870: automatic warehouse control unit, 871: storage processing unit 872: a feed-out processing unit, 873: information updating unit, 900: server, 901: control unit, 902: storage unit 903: pallet registration information, 904: information of pallet location, 905: information of parts, 1000: registration device 1001: pallet registration unit, 1002: an input unit.

Claims

1. A pallet storage device, wherein,

the pallet storage device is provided with:

2. The pallet storage apparatus according to claim 1, wherein,

the pallet carrying section includes a pallet drawing device for drawing the pallet from the pallet accommodating section.

3. The pallet storage apparatus according to claim 2, wherein,

the pallet carrying section further includes a pallet transfer rack capable of accommodating a plurality of pallet-mounted pallets pulled out from the pallet accommodating section by the pallet pulling-out device.

4. The pallet storage apparatus according to claim 3, wherein,

The pallet carrying section further includes:

a lifting device for lifting the pallet pulling-out device and the pallet transfer rack; and

and a horizontal direction moving device that moves the pallet pulling-out device and the pallet transfer rack in a horizontal direction.

5. The pallet storage apparatus according to any one of claims 2 to 4, wherein,

the pallet is provided with a wireless tag which stores pallet identification information as identification information of the pallet,

the pallet pulling-out device is provided with a reading device capable of reading the pallet identification information from the wireless tag of the pulled-out pallet assembly pallet.

6. The pallet storage apparatus according to claim 5, wherein,

the pallet storage device further includes an information updating unit that registers, in a predetermined storage unit, pallet location information obtained by associating the pallet identification information of the pallet assembly pallet read by the reading device with address information indicating an address of the pallet storage unit in which the pallet assembly pallet is stored by the pallet conveying unit.

7. The pallet storage apparatus according to claim 6, wherein,

The pallet storage device further includes a delivery processing unit that refers to pallet registration information obtained by associating the pallet identification information of the pallet to which the pallet is attached with component information indicating a component of the pallet to which the pallet is attached, identifies the pallet identification information associated with the component information instructed to be delivered, identifies the address information associated with the identified pallet identification information with reference to information on the pallet, and controls the pallet carrying unit to deliver the pallet to the pallet storage unit from a position indicated by the identified address information.

8. The pallet storage apparatus according to claim 7, wherein,

the information updating unit deletes information on the pallet, which is related to the pallet mounted on the pallet sent by the sending unit, from the storage unit.

9. The pallet storage apparatus according to claim 5, wherein,

the pallet storage device further includes an information updating unit that refers to pallet registration information obtained by associating the pallet identification information of the pallet to which the pallet is mounted with component information indicating a component of the pallet to which the pallet is mounted, identifies the component information associated with the pallet identification information read by the reading unit, and registers, in a predetermined storage unit, component information obtained by associating the identified component information with address information indicating an address of the pallet storage unit in which the pallet is stored by the pallet carrying unit.

10. The pallet storage apparatus according to claim 9, wherein,

the pallet storage device further includes a delivery processing unit that determines the address information associated with the component information instructed to be delivered based on the information on which the component is located, and controls the pallet conveying unit to deliver the pallet from the position of the pallet storage unit indicated by the determined address information.

11. The pallet storage apparatus according to claim 10, wherein,

the information updating unit deletes the information on the parts related to the tray assembly pallet sent by the sending processing unit from the storage unit.

12. A tray component management system, wherein,

the tray member management system includes:

13. The tray component management system of claim 12, wherein,

the tray component management system further includes a carrier that carries the tray mounting pallet out of the pallet storage device and into the component mounting device, or carries the tray mounting pallet out of the component mounting device and into the pallet storage device.