CN117062427A - Automatic replacement system, management device, and automatic replacement method - Google Patents

Abstract

The application provides an automatic replacement system, a management device and an automatic replacement method. The transfer device of the automatic replacement system is provided with an end effector, a moving mechanism, a recognition unit, a path setting unit, and a control unit. The end effector holds a component supply or component container. The movement mechanism moves the end effector. The recognition unit recognizes a unit recognition body provided in the component supply unit. The path setting unit sets a movement path for moving the end effector. The control unit controls the movement mechanism to move the end effector to at least one of the component supply device and the component container based on the set movement path and the recognition result obtained by the recognition unit.

Description

Automatic replacement system, management device, and automatic replacement method

The application relates to a division application of an application application with the international application date of 2019, 6-month and 18-date and the national application number of 201980028913.5, and the application name of the application application is an automatic replacement system, a management device and an automatic replacement method.

Technical Field

The present disclosure relates to an automatic replacement system and management device for replacing a component container and a component supply device of a component supply unit, and an automatic replacement method.

Background

The component mounting device includes a component container such as a reel that accommodates a plurality of components, and a component supply unit such as a carriage that holds in parallel a component supply device such as a feeder that moves the components accommodated in the component container to a component supply position, and mounts the components supplied to the component supply position to the substrate. An automatic replacement device for automatically replacing a component supply device mounted on such a component mounting device is known (for example, refer to patent document 1). Patent document 1 discloses that a component cassette in which a component container and a component supply device are integrated is held by a robot provided in a component mounting device while being held by a standby table provided in the component mounting device, and is transferred to a component supply unit for replacement.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 4-283035

Disclosure of Invention

However, in the case of replacing the component feeder and the component container separately assembled, in the case of replacing the component feeder and the component container by a robot independent of the component mounting apparatus, or in the case of replacing the component feeder and the component container by a robot, the robot and the replacement target may deviate from the predetermined positions, and in such a case, there is room for improvement in not erroneously replacing the component feeder and the component container.

The present disclosure provides an automatic replacement system, a management device, and an automatic replacement method capable of accurately replacing a component container.

The automatic replacement system of the present disclosure replaces at least one of a component container and a component supply device that moves a component housed in the component container to a component supply position. The component supply device and the component container are included in the component supply unit. The automatic replacement system includes a transfer device having an end effector, a movement mechanism, a recognition unit, a path setting unit, and a control unit. The end effector holds a component supply or component container. The moving mechanism is configured to move the end effector. The recognition unit recognizes a unit recognition body provided in the component supply unit and used for recognizing the component supply unit. The path setting unit sets a movement path for moving the end effector. The control unit controls the movement mechanism. The control unit moves the end effector to at least one of the component supply device and the component container based on the set movement path and the recognition result obtained by the recognition unit.

The management device of the present disclosure generates a job instruction for the transfer device. The transfer device has a movable end effector that replaces at least one of the component container and the component supply device that moves the component contained in the component container to the component supply position. The component container and the component supply device are included in the component supply unit. The management device includes: a storage unit for storing the external dimension information of the component supply unit; and a job instruction generation unit that generates a job instruction including a moving target of the end effector based on the external dimension information of the component supply unit.

The automatic replacement method of the present disclosure replaces at least any one of the component supply device and the component container with a transfer device having a movable end effector. The component supply device and the component container are included in the component supply unit. The component supply device moves the component accommodated in the component accommodation container to a component supply position. In the automatic replacement method, a unit identifier provided in the component supply unit and used for identifying the component supply unit is identified. On the other hand, a movement path for moving the end effector is set. Then, the end effector is moved to at least one of the component supply device and the component container based on the set movement path and the recognition result of the unit recognition body.

According to the present disclosure, the component container can be correctly replaced.

Drawings

Fig. 1 is a structural explanatory diagram of a component mounting system of an embodiment of the present disclosure.

Fig. 2 is a structural explanatory diagram of a component mounting line provided in a component mounting system according to an embodiment of the present disclosure.

Fig. 3 is a structural explanatory diagram of a component mounting device equipped with a component supply carriage provided in a component mounting system according to an embodiment of the present disclosure.

Fig. 4 is a front view of a component supply carriage provided in a component mounting system according to an embodiment of the present disclosure.

Fig. 5 is a structural explanatory view of a component mounting device equipped with a tray feeder provided in a component mounting system according to an embodiment of the present disclosure.

Fig. 6 is a perspective view of a tray feeder provided in a component mounting system according to an embodiment of the present disclosure.

Fig. 7 is a structural explanatory view of a transfer device included in the component mounting system according to the embodiment of the present disclosure.

Fig. 8 is a block diagram showing the configuration of a control system of a component mounting system (automatic replacement system) according to an embodiment of the present disclosure.

Fig. 9 is an explanatory diagram of an example of unit information used in the component mounting system (automatic replacement system) according to the embodiment of the present disclosure.

Fig. 10 is an explanatory view of the external dimensions of the component supply carriage provided in the component mounting system according to the embodiment of the present disclosure.

Fig. 11 is an explanatory diagram of an example of external dimension information used in the component mounting system (automatic replacement system) according to the embodiment of the present disclosure.

Fig. 12 is an explanatory diagram of an example of supply device information used in the component mounting system (automatic replacement system) according to the embodiment of the present disclosure.

Fig. 13 is a diagram showing a flow of an automatic replacement method according to an embodiment of the present disclosure.

Fig. 14A is a process explanatory diagram of automatic replacement of component reels in a component mounting system (automatic replacement system) according to an embodiment of the present disclosure.

Fig. 14B is a process explanatory diagram following automatic replacement of the component reel of fig. 14A.

Fig. 14C is a process explanatory diagram following automatic replacement of the component reel of fig. 14B.

Fig. 15A is a process explanatory diagram illustrating automatic replacement of the component reel in fig. 14C.

Fig. 15B is a process explanatory diagram following automatic replacement of the component reel of fig. 15A.

Fig. 15C is a process explanatory diagram following automatic replacement of the component reel of fig. 15B.

Fig. 16 is a front view of the 2 nd component-supplying carriage provided in the component-mounting system according to the embodiment of the present disclosure.

Fig. 17A is a partial enlarged view of an example of a carriage recognition target formed on the 2 nd component supply carriage according to an embodiment of the present disclosure.

Fig. 17B is a partial enlarged view of an example of the recognition target of the mounting portion formed on the 2 nd component-supplying carriage according to the embodiment of the present disclosure.

Fig. 18 is a structural explanatory view of the 2 nd transfer device included in the component mounting system according to the embodiment of the present disclosure.

Fig. 19A is a process explanatory diagram of a contact detection operation for identifying the position of the target by the 2 nd transfer device according to the embodiment of the present disclosure.

Fig. 19B is a process explanatory diagram illustrating the touch detection operation next to fig. 19A.

Fig. 19C is a process explanatory diagram of the contact detection operation next to fig. 19B.

Fig. 20 is an explanatory diagram for identifying the position of the 2 nd component supply carriage by the 2 nd transfer device according to the embodiment of the present disclosure.

Symbol description

1 component mounting System

2 communication network

3 management computer

3a wireless management communication unit

4-part supply unit

5 parts supply trolley

5a lower part

5B lower reel holding portion

5U upper reel holding part

6 tray feeder

7 base station

8 substrate transport mechanism

9 substrate

10 mounting head

10a adsorption nozzle

12 feeder fitting

13 tape feeder

13a belt insertion opening

14-bar feeder

14a loading part

15-part storage tape

16-part reel

17 rod-shaped shell

18 mounting control part

20 feeder mounting portion

21 rack part

22 pallet moving part

23 tray

24 supporting plate

25 magazine

26 magazine holding portion

26a rack door

27 pallet mounting part

27a opening and closing cover

28 pallet mounting table

28a take-out mechanism

29 lifting mechanism

30 trolley part

30a wheel

31 robot mechanism (moving mechanism)

32 storage part

32a storage rack

33 running gear

34 end effector

35 Mobile camera (identification part)

36 identification processing unit

37-head camera

40 management storage unit

40a part information

40b cell information

40c external dimension information

40d supply device information

40e replacement job information

41 job instruction generating section

42 management input section

43 management display unit

44 transfer and storage unit

44a job instruction information

44b identification result information

45 travel control unit

46 replacement control part

47 route setting unit

50 Unit number

51 Unit class

52. 62 identification method

53 reel correction value

Offset in 53x, 54x, 63x X direction

Offset in 53z, 54z, 63z Z direction

54-slot correction value

55 unit inherent information

56 holding part number

57 holding part position

57x X position

57z Z position

60 feeder number

61 feeder category

63 feeder correction value

64 supply device unique information

70 part 2 feeding trolley

71 lower plate

72. 73 side plate

74. 75, 79, 80 inner plate

76. 77 support plate

78 upper plate

81 contact sensor

D part

E part supply position

G1, G2 trolley recognition target

G3, G4 assembly part recognition target

Ma fitting part mark

Mc trolley marking

Ml rack mark

Mo open-close mark

Ms rod feeder tag

Mt tape feeder mark

T wireless communication unit

V-shaped transfer device

V1 No. 2 transfer device.

Detailed Description

Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. The configuration, shape, and the like described below are examples for illustration, and can be changed as appropriate according to specifications of the component mounting system, the component mounting line, the component mounting apparatus, the component supply carriage, and the tray feeder. Hereinafter, the same reference numerals are given to corresponding elements in all drawings, and repetitive description thereof will be omitted. In fig. 1 and a part described later, an X direction (a left-right direction in fig. 4) in the substrate conveying direction and a Y direction (a left-right direction in fig. 3) orthogonal to the substrate conveying direction are shown as 2-axis directions orthogonal to each other in a horizontal plane. In fig. 2, the Z direction (vertical direction in fig. 3) is shown as a height direction orthogonal to the horizontal plane.

First, with reference to fig. 1, a structure of a component mounting system 1 will be described. The component mounting system 1 is configured such that 3 component mounting lines L1 to L3 disposed on the floor surface F are connected via a wired or wireless communication network 2, and managed by a management computer 3. The component mounting lines L1 to L3 are each configured by connecting a plurality of devices including component mounting devices as described below, and have a function of manufacturing a mounting board on which components are mounted on a substrate. The number of component mounting lines L1 in the component mounting system 1 is not limited to 3, but may be 1, 2, or 4 or more.

The floor surface F is provided with a material storage W. It is assumed that the components supplied to the component mounting apparatuses of the component mounting lines L1 to L3 are stored in the material storage W so as to be stored in component reels, trays, rod-shaped cases, and the like. The component reel, tray, and rod-shaped case are component containers that house a plurality of components.

A plurality of transfer devices V as automated guided vehicles are provided on the floor surface F. The transfer device V has a wireless communication unit T incorporated therein, and transmits and receives signals and information to and from the management computer 3 via a wireless management communication unit 3a provided in the management computer 3. The transfer device V autonomously moves on a travel path set on the floor surface F based on a job instruction sent from the management computer 3, using a travel path provided on the floor surface F (not shown), a beacon, various sensors (GPS, obstacle sensor, etc.) built in the transfer device V, a camera, and other information collected by itself.

Next, a detailed configuration of the component mounting lines L1 to L3 will be described with reference to fig. 2. The component mounting lines L1 to L3 have the same configuration, and the component mounting line L1 will be described below. The component mounting line L1 includes a printer M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5 in this order from the upstream side (left side in fig. 2) in the substrate conveying direction. Each apparatus has a substrate conveying mechanism such as a belt conveyor, and the substrate is conveyed from upstream to downstream by the substrate conveying mechanism of each apparatus to manufacture a mounted substrate. Each device is connected to the management computer 3 via the wired or wireless communication network 2, and can transmit and receive data to and from the management computer 3.

In fig. 2, the printer M1 has a function of printing paste solder in paste form on a substrate via a screen mask. The 3 component mounting devices M2 to M4 have the following functions: the component supplied from the alignment component supply unit 4 is picked up by a component suction nozzle mounted on the mounting head, and transferred and mounted on the mounting point of the substrate on which the cream solder is printed. A component supply unit 4 of the component mounting devices M2 and M3 is provided with a component supply carriage 5 described later. A tray feeder 6 described later is mounted to the component supply section 4 of the component mounting device M4.

The reflow apparatus M5 has a function of heating a substrate on which the component is mounted, melting the paste solder, and solidifying the paste solder to solder the component to the substrate. The management computer 3 performs processing for assisting the replenishment work for replenishing the component to the component mounting apparatuses M2 to M4, in addition to the production management of the mounting boards manufactured in the component mounting lines L1 to L3, the program and the data download processing required for the manufacture of the mounting boards with respect to the respective apparatuses for component mounting, and the like.

Next, the configuration of the component mounting devices M2 and M3 will be described with reference to fig. 3 and 4. In fig. 3, a substrate 9 is transported, positioned, and held in the X direction by a substrate transport mechanism 8 provided on the upper surface of a base 7. A mounting head 10 that moves in the horizontal direction (X-direction, Y-direction) by a head moving mechanism (not shown) is provided above the substrate conveying mechanism 8. An adsorption nozzle 10a is provided at the lower end of the mounting head 10. The suction nozzle 10a vacuum-sucks and holds the component D. The component supply unit 4 provided on the side of the substrate transport mechanism 8 is provided with a component supply carriage 5.

In fig. 4, a feeder attachment portion 12 is provided at an upper portion of the component supply carriage 5. On the upper surface of the feeder fitting portion 12, a plurality of grooves S for fitting the tape feeder 13 or the rod feeder 14 are formed in the substrate conveyance direction (X direction). When the component supply carriage 5 is mounted to the component supply section 4, the feeder mount section 12 is separated from the lower portion 5a of the component supply carriage 5 and coupled to the base 7. A plurality of upper reel holding portions 5U arranged in the X direction and a plurality of lower reel holding portions 5B arranged in the X direction are provided vertically on the lower portion 5a of the component supply carriage 5. The upper reel holding portion 5U and the lower reel holding portion 5B rotatably hold component reels 16, respectively, and the component reels 16 wind the component storage tape 15 storing the components D.

In fig. 3, a reel mark Mb is attached to a side surface of the component reel 16. The reel mark Mb includes a bar code or a two-dimensional code in which information for specifying the component reel 16 is recorded. The component storage tape 15 pulled out from the component reel 16 held in the upper reel holding portion 5U or the lower reel holding portion 5B is inserted into the tape insertion port 13a of the tape feeder 13. The tape feeder 13 conveys the component storage tape 15 inserted from the tape insertion port 13a in the tape feeding direction, and supplies the component D to the component supply position E. That is, the tape feeder 13 is a component feeding device that moves the component D accommodated in the component reel 16 (component accommodating container) to the component feeding position E.

In fig. 4, the rod feeder 14 supplies a plurality of components D stored in a serial state inside a long hollow rod-shaped housing 17 to a component supply position E. As a method of moving the component D in the lever feeder 14 to the component feeding position E, vibration, pushing out of the wire, or the like is used. The rod-shaped housing 17 is accommodated in a stacked state in a loading portion 14a provided at an upper portion of the rod feeder 14. That is, the rod feeder 14 is a component feeding device that moves the component D accommodated in the rod-shaped housing 17 (component accommodating container) to the component feeding position E. In this way, the component supply carriage 5 includes the component container (component reel 16, rod case 17) and the component supply device (tape feeder 13, rod feeder 14), and constitutes the component supply unit that supplies the component D to the component mounting devices M2, M3.

In fig. 3, the component mounting apparatuses M2 and M3 include a substrate carrying mechanism 8, a mounting head 10, and a mounting control unit 18 that controls the head moving mechanism. The mounting control section 18 sends a supply command of the component D to the tape feeder 13 or the lever feeder 14 to supply the component D to the component supply position E. The mounting control unit 18 controls the mounting head 10 and the head moving mechanism, and performs a component mounting operation of taking out the component D supplied from the component supply device to the component supply position E by the mounting head 10 and transferring and mounting the component D to the mounting position of the substrate 9 held by the substrate conveying mechanism 8.

In fig. 4, a carriage mark Mc is marked on the outer appearance of the lower portion 5a of the component supply carriage 5. The exterior of the feeder attachment portion 12 is marked with an attachment portion mark Ma. The carriage mark Mc and the mounting portion mark Ma include a bar code, a two-dimensional code, a unique mark, and the like, in which information for specifying the component supply carriage 5 is recorded. When the component supply carriage 5 is marked with a plurality of marks (here, the carriage mark Mc is 2 and the mounting portion mark Ma is 2), information for specifying the positions to be added to the respective marks is also recorded.

In this way, the carriage mark Mc and the mounting portion mark Ma are unit identifiers that are attached (formed) to the external appearance of the component supply unit (component supply carriage 5). The carriage mark Mc and the mounting portion mark Ma may be marked on any one of the front surface, the side surface, the upper surface, the rear surface, and the lower surface as viewed from the side where the marks are identified, as long as the positions can be visually recognized from the external appearance.

In the tape feeder 13, a tape feeder mark Mt is marked on the side where the tape insertion port 13a is formed. The tape feeder mark Mt includes a barcode, a two-dimensional code, a unique mark, and the like recorded with information for determining the tape feeder 13. In the rod feeder 14, a rod feeder mark Ms is marked on the side to which the rod housing 17 is supplied. The bar feeder mark Ms includes a bar code, a two-dimensional code, a unique mark, and the like, in which information for specifying the bar feeder 14 is recorded.

Thus, the tape feeder mark Mt and the lever feeder mark Ms are feeder identification bodies that mark (form) the appearance of the component feeder (tape feeder 13, lever feeder 14). The supply device identification body is provided for identifying the component supply device.

The tape feeder mark Mt and the rod feeder mark Ms may be marked on any one of the front surface, the side surface, the upper surface, the rear surface, and the lower surface, as long as they are visually recognized from the external appearance.

Next, the structure of the component mounting apparatus M4 will be described with reference to fig. 5 and 6. The component mounting device M4 is similar to the component mounting devices M2 and M3 except that the component feeder 6 is mounted in the component feeder 4 instead of the component feeder carriage 5, and the structure of the component feeder 6 will be described below. In fig. 5, a rack portion 21 is provided on the upper surface of a feeder placement portion 20 provided in the tray feeder 6, on the front side of the tray feeder 6 mounted on the component feeder 4, and a pallet moving portion 22 is provided on the rear side.

A plurality of (2 in this case) magazine holding portions 26 are arranged in the up-down direction in the rack portion 21, and the magazine holding portions 26 house the magazines 25, and the magazines 25 house the pallets 24 on which the trays 23 for housing the components D are mounted in a stacked manner. A rack door 26a that is openable forward is provided on the operation surface of the rack portion 21. The cartridge 25 is inserted into and removed from the cartridge holding portion 26 in a state where the rack door 26a is opened (lower side in fig. 6). A pallet mounting portion 27 is provided above the uppermost cartridge holding portion 26. An openable cover 27a that is openable upward (arrow a) is provided on the operation surface of the rack portion 21. When the opening/closing cover 27a is opened, 1 pallet 24 on which the pallet 23 is mounted can be placed in the pallet feeder 6 in the pallet placement unit 27.

In fig. 5, the pallet moving part 22 includes a pallet mounting table 28, a lifting mechanism 29, and a take-out mechanism 28a. The lifting mechanism 29 lifts (arrow b) the pallet table 28, and moves the pallet table 28 to a height position where the pallet 24 stored in the magazine 25 or the pallet 24 placed on the pallet placement unit 27 is placed, or to a component supply position E where the mounting head 10 takes out the component D. The take-out mechanism 28a pulls out the pallet 24 from the magazine 25 or the pallet mounting part 27 and holds the pallet 24, and stores the held pallet 24 in the magazine 25 or the pallet mounting part 27.

Thus, the tray 23 and the magazine 25 accommodating the plurality of trays 23 are component containers accommodating the plurality of components D. The pallet moving section 22 having the pallet mounting table 28, the lifting mechanism 29, and the take-out mechanism 28a is a component supply device that moves the component D stored in the tray 23 (component storage container) to the component supply position E. The tray feeder 6 includes a component container (tray 23) and a component feeder, and is a component feeder unit that feeds the component D to the component mounting device M4.

In fig. 6, rack marks Ml are marked on the outer appearance of the respective rack doors 26 a. The rack mark Ml includes a bar code, a two-dimensional code, a unique mark, and the like for specifying information of the tray feeder 6 and information of a position (upper and lower layers) where the rack door 26a (cartridge holding portion 26) is recorded. An opening/closing mark Mo is marked on the front surface of the opening/closing cover 27 a. The opening/closing mark Mo includes a bar code or a two-dimensional code in which information for specifying the tray feeder 6 is recorded. In this way, the rack mark Ml and the opening/closing mark Mo are unit identifiers that are marked (formed) on the external appearance of the component supply unit (tray feeder 6). The unit identifier is provided for identifying the component supply unit. The rack mark Ml and the opening/closing mark Mo may be marked on any one of the front surface, the side surface, the upper surface, the rear surface, and the lower surface, as long as they are visually recognized from the external appearance.

The front surface of the cartridge 25 in the state of being inserted into the cartridge holding portion 26 marks the cartridge mark Mm. The cartridge mark Mm includes a bar code, a two-dimensional code, a unique mark, and the like, in which information for specifying the cartridge 25 is recorded. The front surface of the tray 23 in a state of being accommodated in the tray feeder 6 is marked with a tray mark Mp (not shown). The tray mark Mp includes a bar code, a two-dimensional code, a unique mark, and the like, in which information for specifying the tray 23 is recorded. The cartridge mark Mm and the tray mark Mp may be marked on any of the front surface, the side surface, the upper surface, the rear surface, and the lower surface as long as the portions other than the front surface are visually recognized when viewed from the side where the marks are recognized.

Next, the structure of the transfer device V will be described with reference to fig. 7. The transfer device V includes a robot mechanism 31 and a storage unit 32 above the carriage unit 30. The carriage unit 30 includes wheels 30a, a motor for driving the wheels 30a, a direction changing mechanism for changing the direction of the wheels 30a, and a traveling mechanism 33 including a sensor for detecting the position and posture of the transfer device V (see fig. 8).

The robot mechanism 31 is an articulated robot having an end effector 34 disposed at the tip, and moves the end effector 34 in the X direction, the Y direction, and the Z direction by a plurality of servo motors, changes the orientation, and rotates θ. The control method of the robot mechanism 31 is not particularly limited, and examples thereof include an impedance control method, a compliance control method, and the like, but other control methods, a control method in which a plurality of control methods are combined, a control using AT, and the like may be used.

The end effector 34 has a function of gripping (holding) the component feeding device (tape feeder 13, rod feeder 14) or the component container (component reel 16, rod housing 17, tray 23, magazine 25). The end effector 34 may have functions such as holding and adsorbing, as long as it can hold the component supply device or the component container. Further, a mobile camera 35 (imaging unit) that images the unit identifier (carriage mark Mc, mounting unit mark Ma, rack mark Ml, opening/closing mark Mo), the feeder identifier (tape feeder mark Mt, rod feeder mark Ms), the magazine mark Mm, tray mark Mp, and the like is arranged in the end effector 34.

The identification processing unit 36 (see fig. 8) of the transfer device V performs identification processing on the various marks captured by the mobile camera 35, thereby identifying the information and the position recorded in each mark. In this way, the mobile camera 35 (image pickup unit) is an identification unit that identifies (picks up an image) the unit identification body (the mark formed on the component supply unit) and the supply device identification body (the mark formed on the component supply device). The robot mechanism 31 is a moving mechanism that moves the end effector 34 and the moving camera 35, and matches the imaging axis of the moving camera 35 with various marks.

In fig. 7, a plurality (here, 4) of storage shelves 32a open to one side of the robot mechanism 31 are arranged in the storage unit 32. The holder 32a can house a component supply device (tape feeder 13, rod feeder 14) for replacement, a component container (component reel 16, rod housing 17, tray 23, magazine 25), and the like. The transfer device V mounts the component supply device and the component container for replenishment taken out from the material storage W on the holding rack 32a, and conveys the components to the component mounting devices M2 to M4 to be replenished.

The storage unit 32 is provided with a head camera 37 having an imaging axis directed downward between the robot mechanism 31. The head camera 37 captures a reel mark Mb marked on the side surface of the component reel 16 held by the end effector 34 from above. The information recorded in the reel mark Mb is recognized by performing recognition processing on the reel mark Mb captured by the head camera 37 by the recognition processing unit 36.

The mobile camera 35 may have a function of the head camera 37. In this case, the moving camera 35 is attached to a position where the reel mark Mb attached to the side surface of the component reel 16 can be photographed in a state where the component reel 16 is gripped by the end effector 34. Alternatively, the reel mark Mb marked on the upper surface of the component reel 16 may be photographed by the moving camera 35 in a state where the component reel 16 is pulled out from the storage unit 32 by the end effector 34.

Next, the configuration of the control system of the component mounting system 1 will be described with reference to fig. 8. Here, in the component mounting system 1, a description will be given of a configuration related to functions of the component supply devices and the component containers of the component mounting devices M2 to M4 replaced by the transfer device V. The management computer 3 includes a wireless management communication unit 3a, a management storage unit 40, a job instruction generation unit 41, a management input unit 42, and a management display unit 43. The management input unit 42 is an input device such as a keyboard, a touch panel, or a mouse, and is used for inputting operation commands and data. The management display unit 43 is a display device such as a liquid crystal panel, and displays various information such as an operation screen for managing the operation of the input unit 42.

The management storage unit 40 is a storage device that stores component information 40a, unit information 40b, external dimension information 40c, supply device information 40d, replacement work information 40e, and the like. The component information 40a includes, for each component number for specifying the component D, information (such as the type) of the component, information (such as the size) of the component container in which the component D is contained, and information (such as the mark of the component container, such as the reel mark Mb and the tray mark Mp). That is, the component information 40a includes the diameter and thickness of the component reel 16 as a component container, and the outer dimensions (longitudinal, transverse, depth) of the rod-shaped case 17, the tray 23, and the magazine 25. The unit information 40b includes unit unique information, which is information unique to each component supply unit (component supply carriage 5, tray feeder 6).

Here, details of the unit information 40b will be described with reference to fig. 9. The unit information 40b includes a unit number 50, a unit type 51, a recognition method 52, a reel correction value 53, and a groove correction value 54. The unit number 50 is information for determining the component supply unit. The unit type 51 is information for specifying the type of the component supply unit. In the unit type 51, "carriage (17)" and "carriage (30)" are component supply carriages 5 having 17-row and 30-row slots S, upper reel holding portions 5U, and lower reel holding portions 5B, respectively, and "tray (20)" is a tray feeder 6 capable of accommodating 20 pallets 24.

The identification method 52 is information (unit identification information) specifying whether the unit identification body (the carriage mark Mc, the mounting portion mark Ma, the rack mark Ml, the opening/closing mark Mo) is imaged by the moving camera 35 (the imaging portion, the identification portion) provided in the transfer device V or whether the external shape of the component supply unit is identified when the operation position in the component supply unit is determined. In the recognition method 52, the image pickup object is a unit recognition body with respect to the "mark", and the image pickup object is an outline of the whole or a part of the component supply unit with respect to the "outline". As described above, the identification method is designated by the identification method 52, and the same automatic replacement method described below can be applied even to the component supply units having different structures, such as the presence or absence of the unit identifier.

In fig. 9, the reel correction value 53 is a shift amount from the ideal position P0 to which the carriage mark Mc is attached to the actually attached position P1, and is represented by a shift amount 53X (Δx) in the X direction and a shift amount 53Z (Δz) in the Z direction (see fig. 10). The groove correction value 54 is an offset from the ideal position of the mark Ma of the mark mounting portion to the position actually marked, and is represented by an offset 54X (Δx) in the X direction and an offset 54Z (Δz) in the Z direction. In this way, the unit type 51, the identification method 52, the reel correction value 53, and the slot correction value 54 of each component supply unit including the unit number 50 constitute the unit unique information 55 for specifying the component supply unit. That is, the unit unique information 55 includes unit identification information (identification method 52).

The reel correction value 53 may include an offset in the Y direction between the transfer device V and the component supply unit. The Y-direction offset amount is a difference between the ideal distance between the transfer device V and the component supply unit and the distance between the transfer device V and the component supply unit that have actually been stopped, and can be calculated based on the size of the entire or a part of the carriage mark Mc imaged by the moving camera 35. Further, by capturing a plurality of carriage marks Mc, the amount of shift in the Y direction between the transfer device V and the component supply unit can be approximately grasped. Further, by taking the offset in the Y direction into consideration, the offset 53X (Δx) in the X direction and the offset 53Z (Δz) in the Z direction can be calculated with higher accuracy. Similarly, the groove correction value 54 may include an offset in the Y direction.

In fig. 8, the external dimension information 40c includes information on the external shape used for the automatic replacement work of the component feeder and the component container, for each type of the component feeder (the component feeder carriage 5 and the tray feeder 6) and each type of the component feeder (the tape feeder 13 and the lever feeder 14).

Here, details of the external dimension information 40c will be described with reference to fig. 11. Fig. 11 shows information on the positions of the lower reel holding portion 5B and the upper reel holding portion 5U among the external dimension information 40c of the component supply carriage 5, the unit type 51 of which is "carriage (17)". The external dimension information 40c includes a holding portion number 56 and a holding portion position 57. The holding unit number 56 is information for specifying the lower reel holding unit 5B and the upper reel holding unit 5U, and "B01" to "B17" represent the lower reel holding unit 5B, and "U01" to "U17" represent the upper reel holding unit 5U. The holding unit position 57 is shown as an X position 57X and a Z position 57Z (see fig. 10) with the ideal position P0 of the carriage mark Mc marked on the component supply carriage 5 as a base point.

The external dimension information 40c of the unit type 51 "carriage (17)" includes information on the position of the slot S, information on the external dimension (vertical, horizontal, depth) of the component supply carriage 5, and the like, in addition to the holding portion position 57 shown in fig. 11. The external dimension information 40c of the unit type 51 "dolly (30)" includes the same information as the external dimension information 40c of the unit type 51 "dolly (17)". The external dimension information 40c of the unit type 51 "tray (20)" includes information on the position of the rack door 26a, information on the position of the opening/closing cover 27a, information on the outer diameter dimension of the tray feeder 6, and the like.

Further, the information about the external dimension of the tape feeder 13, and the like are included in the external dimension information 40c of the tape feeder 13. The information about the external dimensions of the rod feeder 14, and the like are included in the external dimension information 40c of the loading portion 14 a.

In fig. 8, the feeder information 40d includes feeder-specific information, which is information specific to each component feeder (tape feeder 13, rod feeder 14), for each component feeder.

Here, details of the supply device information 40d will be described with reference to fig. 12. The feeder information 40d includes a feeder number 60, a feeder type 61, a recognition method 62, and a feeder correction value 63. The feeder number 60 is information for specifying the component feeder. The feeder type 61 is information for specifying the type of the component feeder. In the feeder category 61, "tape (8 mm)" and "tape (16 mm)" are tape feeders 13 that convey component accommodation tapes 15 having widths of 8mm and 16mm, respectively, and "lever (10)" is a lever feeder 14 capable of accommodating 10 lever-like housings 17.

The identification method 62 specifies information (feeder identification information) that, when determining the working position in the component feeder, the feeder identification body (tape feeder mark Mt, rod feeder mark Ms) is imaged by the moving camera 35 (imaging unit, identification unit) provided in the transfer device V or the external shape of the component feeder is identified. In the recognition method 62, the "mark" is the object to be imaged as the feeder recognition body, and the "outline" is the outline of the object to be imaged as the component feeder. As described above, the identification method is designated by the identification method 62, and the same automatic replacement method can be applied even to a component feeder having a different configuration such as the presence or absence of a feeder identifier.

In fig. 12, the feeder correction value 63 is a shift amount from an ideal position to an actually-marked position, to which the tape feeder mark Mt or the rod feeder mark Ms is marked, and is represented by a shift amount 63X (Δx) in the X direction and a shift amount 63Z (Δz) in the Z direction. In this way, the feeder type 61, the identification method 62, and the feeder correction value 63 for each component feeder including the feeder number 60 constitute feeder unique information 64 for specifying the component feeder. That is, the supply device unique information 64 includes supply device identification information (identification method 62).

In fig. 8, the replacement work information 40e includes information (such as a component number) for specifying the component container to be replaced or replenished, and information such as a feeder number 60, a position, and a replacement order of the component feeder to be replaced or replenished. The position of the replenishment object or the replacement object is information for specifying the position of the component container or the component feeder to be set using the corresponding component mounting lines L1 to L3, the component mounting devices M2 to M4, the unit number 50 of the component feeder carriage 5, the holding unit number 56, the unit number 50 of the tray feeder 6, or the like. The replacement work information 40e is prepared in advance based on the production plan, production data, material and equipment information, and the like.

In fig. 8, the job instruction generation unit 41 generates a job instruction including the destination of movement of the transfer device V based on the replacement job information 40 e. The job instruction generation unit 41 generates a job instruction for identifying (forming) which unit identifier is marked (formed) on the component supply unit or a job instruction for identifying the outer shape of the component supply unit, based on the replacement job information 40e and the unit identification information (identification method 52). The job instruction generation unit 41 generates a job instruction for identifying (forming) which feeder identifier of the component feeder is marked (formed) on the basis of the replacement job information 40e and the feeder identification information (identification method 62), or a job instruction for identifying the external shape of the component feeder. Further, a job instruction is generated for each process of the job, and the movement coordinates of the end effector 34 are calculated for each generated process.

The job instruction generation unit 41 generates a job instruction including a movement target of the end effector 34 included in the transfer device V based on the replacement job information 40e, the unit unique information 55, the supply device unique information 64, and the external dimension information 40c of the component supply unit and the component supply device. When the carriage mark Mc is recognized at the time of replacing the component reel 16, for example, the moving target of the end effector 34 is indicated by XZ coordinates based on the recognized carriage mark Mc. At this time, the shift of the position marked with the carriage mark Mc is corrected based on the reel correction value 53. For example, when the lower reel holding portion 5B of the left lower end holding portion number 56 of the component supply carriage 5 in fig. 10 is the working position, the instruction movement target is corrected to (x1+Δ X, Z1+Δz).

Similarly, when the slot S of the component supply carriage 5 is the working position, the moving target is corrected based on the slot correction value 54. When the tape insertion port 13a of the tape feeder 13 or the loading portion 14a of the rod feeder 14 is at the working position, the moving target is corrected based on the feeder correction value 63. That is, the work instruction generating unit 41 generates a work instruction to correct the movement target of the end effector 34 based on at least one of the cell position correction value (reel correction value 5, slot correction value 54) and the supply device position correction value (supply device correction value 63). The unit position correction value (reel correction value 53, slot correction value 54) is a value for correcting the movement target of the end effector 34 based on the positional displacement of the unit identifier, and the supply device position correction value (supply device correction value 63) is a value for correcting the movement target of the end effector 34 based on the positional displacement of the supply device identifier.

As described above, by correcting the moving target by the correction value stored in advance, even if the positions to which the various marks are attached are shifted for each component supply unit and each component supply device, the end effector 34 can be accurately moved. The job instruction generated by the job instruction generation unit 41 is transmitted to the transfer device V that executes the replacement job via the wireless management communication unit 3 a. The work instruction generating unit 41 may generate a work instruction in the movement target not corrected by the correction value, transmit the unit position correction value and the supply device position correction value together with the work instruction, and correct the movement target when the route setting unit 47 described later sets the movement route in the transfer device V.

As described above, the management computer 3 includes the storage unit (management storage unit 40), the unit-specific information 55, and the job instruction generation unit 41. The management storage unit 40 stores the external dimension information 40c of the component supply unit in association with the unit unique information 55 specifying the component supply unit. The job instruction generation unit 41 generates a job instruction including a moving target of the end effector 34 based on the external dimension information 40c of the component supply unit. The management computer 3 is a management device that generates a job instruction for the transfer device V having the movable end effector 34. The management computer 3 need not be 1 computer, but may be composed of a plurality of devices. For example, a part or the whole of the management storage unit 40 may be provided in the cloud via a server.

In fig. 8, the transfer device V includes a travel mechanism 33, a robot mechanism 31, an end effector 34, a movement camera 35, an identification processing unit 36, a head camera 37, a transfer storage unit 44, a travel control unit 45, a replacement control unit 46, a route setting unit 47, and a wireless communication unit T. The transfer storage unit 44 is a storage device that stores job instruction information 44a, identification result information 44b, and the like. The job instruction information 44a stores a job instruction transmitted from the management computer 3 (management device) and received by the wireless communication unit T.

The identification result information 44b stores: the recognition processing unit 36 recognizes the imaging result of the mobile camera 35 (imaging unit, recognition unit), and the like, and records information on each mark, information on the position of each mark, and the like, and the recognition processing unit 36 recognizes the imaging result of the head camera 37, and records the component information on the reel mark Mb. In addition, the identification result information 44b also stores: the recognition processing unit 36 recognizes the external shape of the component supply unit and the component supply apparatus captured by the moving camera 35, and obtains information such as the slot S of the component supply carriage 5, the positions of the upper reel holding unit 5U and the lower reel holding unit 5B, the position of the rack door 26a and the opening/closing cover 27a of the tray feeder 6, the position of the tape insertion opening 13a of the tape feeder 13, and the position of the loading unit 14a of the lever feeder 14.

The travel control unit 45 controls the travel mechanism 33 based on the movement destination of the transfer device V included in the job instruction, and moves the transfer device V to the designated movement destination. The replacement control unit 46 controls the robot mechanism 31 based on the identification destination included in the job instruction, and photographs the identification destination designated by the mobile camera 35. The path setting unit 47 sets a movement path (for example, arrows C2 to C6 in fig. 14B to 15C) for moving the end effector 34 based on the movement target of the end effector 34 included in the job instruction.

At this time, the path setting unit 47 sets the movement path so that the end effector 34 does not interfere with the main body of the component supply unit, based on the external dimensions (vertical, horizontal, depth) of the component supply unit included in the external dimension information 40c of the component supply unit. That is, the end effector 34 is moved by the object that is not held or is held by the end effector 34 to set the movement path in a different trajectory.

The replacement control unit 46 (control unit) controls the robot mechanism 31 (movement mechanism) to move the end effector 34 to at least one of the component supply device and the component container based on the movement path set by the path setting unit 47 and the recognition result (recognition result information 44 b) obtained by moving the camera 35 (image pickup unit, recognition unit). Accordingly, even if the stop position of the transfer device V deviates from a predetermined movement destination or the positions of the component supply device and the component container in the component supply unit deviate from predetermined positions, the component supply device and the component container can be accurately gripped by the end effector 34.

As described above, the transfer device V includes the end effector 34, the movement mechanism (the robot mechanism 31) that moves the end effector 34, the recognition unit (the movement camera 35), the path setting unit 47, and the control unit (the replacement control unit 46) that controls the movement mechanism. The transfer device V and the management device (management computer 3) having the job instruction generation unit 41 for generating a job instruction constitute an automatic replacement system for replacing at least one of the component supply device and the component container of the component supply unit.

Next, along the flow of fig. 13, a method of automatically replacing at least one of the component supply device and the component container of the component supply unit by the transfer device V having the movable end effector 34 will be described with reference to fig. 14A to 15C. Hereinafter, an example will be described in which the component reel 16 as the component container is taken out from the component supply carriage 5 (component supply unit) mounted on the component mounting device M2 and replaced. In fig. 14A to 15C, the robot mechanism 31 of the transfer device V is omitted for convenience.

In fig. 13, first, the management computer 3 (management device) generates a job instruction to designate the component supply carriage 5 to which the replacement component reel 16 is attached as a transfer destination, and sends the job instruction to the transfer device V on which the replenishment component reel 16 is mounted. In the transfer device V that receives the job instruction, the travel control unit 45 moves the transfer device V to a designated transfer destination in accordance with the job instruction (ST 1: transfer device moving step). When the movement is completed, the transfer device V transmits the result to the management computer 3. In addition, even when the transfer device V moves to a designated transfer destination, a stop error of several centimeters or several millimeters occurs.

Next, in the management computer 3, the job instruction generation unit 41 removes the replacement component reel 16 from the component supply carriage 5, and generates a job instruction for mounting the replenishment component reel 16 (ST 2: job instruction generation step). In the work instruction generation step (ST 2), the carriage mark Mc (unit identifier) is identified, and a work instruction including the moving target of the end effector 34 based on the identified carriage mark Mc is generated. Next, the management computer 3 transmits the generated job instruction to the transfer device V (ST 3: job instruction transmission step).

In fig. 13, when the transfer device V receives the job instruction, the replacement job is executed in accordance with the job instruction. First, when identification of various marks is instructed in the job instruction (yes in ST 4), the replacement control unit 46 controls the robot mechanism 31 to move the moving camera 35 (imaging unit, identification unit) to the front of the carriage mark Mc (arrow c1 in fig. 14A), and identifies the carriage mark Mc (ST 5: unit identification step). That is, the unit identifier (carriage mark Mc) marked (formed) on the external appearance of the component supply unit (component supply carriage 5) is identified.

In addition, when identification of various marks is instructed, the transfer device V may determine whether or not the various marks instructed by the job instruction match. Whether the various marks are correct or not is determined, and if they are inconsistent, the operation is stopped. Thus, it is possible to prevent in advance a work error caused by a part supply unit being scraped off or the like due to a wrong work by an operator.

Next, before the moving camera 35 (image pickup section, recognition section) moves to the feeder recognition body (tape feeder mark Mt, rod feeder mark Ms), the feeder recognition body is recognized (ST 6: feeder recognition step). Here, since the job instruction does not include the identification of the supply device identification body, the supply device identification step is skipped (ST 6). When the identification of the external shape is instructed by the job instruction (no in ST 4), the replacement control unit 46 controls the robot mechanism 31 to identify the external shape of the component supply unit or the component supply device instructed by the moving camera 35 (ST 7: external shape identification step).

When the identification of the mark (ST 5, ST 6) or the identification of the outline (ST 7) is completed, the path setting unit 47 then sets a movement path for moving the end effector 34 based on the operation instruction and the identification result (ST 8: path setting step). Thereby, a movement path is set in which a stop error of the transfer device V, a deviation of the component supply device and the component container in the component supply unit, and the like are corrected. Next, the replacement control unit 46 controls the robot mechanism 31 based on the set movement path, and moves the end effector 34 to the component reel 16 to be replaced (arrow c2 in fig. 14B), and grips the component reel 16 by the end effector 34.

In fig. 13, the replacement control unit 46 then moves the end effector 34 holding the component reel 16 to remove the component reel 16 from the upper reel holding unit 5U (ST 9), rotates the component reel 16 by 90 degrees to move to the storage unit 32 (arrow C3 in fig. 14C), and stores the component reel in the empty storage rack 32a (ST 10). Next, the replacement control unit 46 causes the end effector 34 to take out the component reel 16 to be replenished, which is located in the holder 32a (ST 11) (arrow c4 in fig. 15A). At this time, the reel mark Mb attached to the component reel 16 is photographed by the head camera 37, and whether or not the component reel 16 is the instructed replenishment target is checked.

Next, the replacement control unit 46 rotates the end effector 34 holding the component reel 16 by 90 degrees, and moves the component reel to the front of the component supply carriage 5 (arrow C5 in fig. 15B), and attaches the component reel 16 to the upper reel holding unit 5U (ST 12) indicating the replenishment target (arrow C6 in fig. 15C). Next, when the replacement work is not completed with the replacement target component reel 16 (component container) remaining (no in ST 13), the process returns to the work instruction generation process (ST 2), and the replacement work of the next component reel 16 is executed. When the replacement operation of all the component reels 16 is completed (yes in ST 13), the automatic replacement is completed.

When all the strokes of the replacement work are included in the work instruction (ST 2, ST3 of the 1 ST time) generated and transmitted by the management computer 3, the next replacement work is executed without returning to the work instruction generation step (ST 2) and returning to ST 4. If necessary information can be acquired at the 1 ST time, the identification of the mark at the 2 nd and subsequent times (ST 5, ST 6) or the identification of the external shape (ST 7) is skipped.

As described above, ST9 to ST12 are moving steps for moving the end effector 34 to at least one of the component supply device and the component container based on the moving path set in the path setting step (ST 8) and the recognition result in the unit recognition step (ST 5), the supply device recognition step (ST 6), or the outline recognition step (ST 7). That is, the automatic replacement method of the present embodiment includes a unit recognition step (ST 5), a path setting step (ST 8), and a moving step (ST 9 to ST 12). This allows the component reel 16 (component container) to be replaced accurately.

In the automatic replacement method shown in fig. 13, when the component supply device (tape feeder 13, rod feeder 14) is replaced, the mounting portion mark Ma is identified in the unit identification step (ST 5). When the tray 23 (component container) of the tray feeder 6 (component feeding unit) is replaced, the opening/closing flag Mo is recognized in the unit recognition step (ST 5), and the opening/closing of the opening/closing cover 27a and the recognition of the tray flag Mp of the tray 23 in the tray mounting portion 27 by the moving camera 35 (image pickup portion, image pickup means) are performed in the moving step.

In addition, in the case of replacing the magazine 25 (component container) of the tray feeder 6 (component feeding unit), the rack mark M1 is recognized in the unit recognition step (ST 5), and the opening and closing of the rack door 26a and the recognition of the magazine mark Mm of the magazine 25 at the rack portion 21 by the moving camera 35 are performed in the moving step. After the component reel 16 is replaced, when the component storage tape 15 is inserted into the tape insertion port 13a of the tape feeder 13, the tape feeder mark Mt is recognized in the feeder recognition step (ST 6). In addition, in the case of replacing the rod-shaped housing 17 (component container) of the rod feeder 14, the rod feeder mark Ms is recognized in the feeding device recognition process (ST 6).

As described above, the component mounting system 1 of the present embodiment replaces at least one of the component supply device (tape feeder 13, rod feeder 14, pallet moving part 22) and the component container (component reel 16, rod housing 17, tray 23, magazine 25). The component container contains a plurality of components D. The component supply device moves the component D stored in the component storage container to the component supply position E. The component supply device and the component container are included in the component supply unit (component supply carriage 5, tray feeder 6).

The automatic replacement system has a transfer device V. The transfer device V includes an end effector 34, a moving mechanism (robot mechanism 31), a recognition unit (moving camera 35), a path setting unit 47, and a control unit (replacement control unit 46). The end effector 34 holds a component supply device or a component container. The robotic mechanism 31 moves the end effector. The movement camera 35 recognizes a unit identifier (a carriage mark Mc, a fitting portion mark Ma, a rack mark M1, and an opening/closing mark Mo) marked on the external appearance of the component supply unit (formed in the component supply unit). The path setting unit 47 sets a movement path for moving the end effector 34. The replacement control unit 46 controls the movement mechanism.

Then, the control unit moves the end effector 34 to at least one of the component supply device and the component container based on the set movement path and the recognition result of the recognition unit. This allows the component container to be replaced accurately.

In the above description, the component supply units (the component supply carriages 5 and the tray feeders 6) mounted on the component mounting devices M2 to M4 are described as examples of so-called internal arrangements for replacing the component supply devices or the component containers, but the present disclosure is not limited to the internal arrangements. For example, the component supply units (component supply carriages 5, tray feeders 6) detached from the component mounting devices M2 to M4 can be applied to so-called external settings for replacing component supply devices or component containers. In this case, in the replacement work information 40e, a preparation area to be externally set is designated as the position of the replenishment object or the replacement object. In the external setting, the component supply unit may be moved to the transfer device V fixed to the floor surface F, and the component supply device or the component container may be replaced at the replacement position.

The various marks may not be constituted by 1 figure, and may be constituted by a plurality of figures such as surrounding characters, for example, the marks constituted by the plurality of figures may be recognized as a whole, and a specific figure may be used as coordinates for correction.

Next, embodiment 2 of the component feeding cart (hereinafter referred to as "component feeding cart 70" of the 2 nd embodiment) will be described with reference to fig. 16, 17A, and 17B. The 2 nd component supplying carriage 70 has a component container and a component supplying device, similar to the component supplying carriage 5 described above, and is a component supplying unit that supplies the component D to the component mounting devices M2 and M3. The 2 nd component-supplying carriage 70 has carriage recognition targets G1, G2 instead of the carriage mark Mc, and fitting-portion recognition targets G3, G4 instead of the fitting-portion mark Ma, which are different from the component-supplying carriage 5. Hereinafter, the same components as those of the component supply carriage 5 are denoted by the same reference numerals, and detailed description thereof will be omitted.

In fig. 16, a lower plate 71 that extends the XY plane (horizontal plane) in the substrate transport direction (X direction) is provided on the front surface of the lower portion 5a of the 2 nd component supply cart 70. Left and right side plates 72, 73 extending in the YZ plane are provided to extend upward at both ends of the lower plate 71 in the X direction. A left side plate 72 and a left inner plate 74 extending perpendicularly to the lower plate 71 and toward the ZX plane are provided on the left side of the lower plate 71 (see also fig. 17A). The lower plate 71, the left side plate 72, and the left inner plate 74 constitute a left carriage recognition target G1. The corner where the lower plate 71, the left side plate 72, and the left inner plate 74 intersect is the position Q1 of the left carriage recognition target G1.

A right side plate 73 and a right inner plate 75 extending perpendicularly to the lower plate 71 and toward the ZX plane are provided on the right side of the lower plate 71. The lower plate 71, the right side plate 73, and the right inner plate 75 constitute a right carriage recognition target G2. The corner where the lower plate 71, the right side plate 73, and the right inner plate 75 intersect is the position Q2 of the right carriage recognition target G2.

In fig. 16, left and right support plates 76, 77 extending in the YZ plane are provided to extend upward at both ends of the feeder mount 12 in the X direction. An upper plate 78 extending the XY plane in the X direction is provided between the upper portion of the left support plate 76 and the upper portion of the right support plate 77. A left support plate 76 and a left inner plate 79 (see also fig. 17B) extending in the ZX plane and orthogonal to the upper plate 78 are provided on the left side of the upper plate 78. The upper plate 78, the left support plate 76, and the left inner plate 79 constitute a left assembly portion recognition target G3. The corner where the upper plate 78, the left support plate 76, and the left inner plate 79 intersect is the position Q3 of the left mounting portion recognition target G3.

A right support plate 77 and a right inner plate 80 extending perpendicularly to the upper plate 78 and toward the ZX plane are provided on the right side of the upper plate 78. The upper plate 78, the right support plate 77, and the right inner plate 80 constitute a right fitting portion recognition target G4. The corner where the upper plate 78, the right support plate 77, and the right inner plate 80 intersect is the position Q4 of the right assembly part recognition target G4.

The carriage recognition targets G1, G2 and the mounting portion recognition targets G3, G4 are unit recognition bodies for recognizing the position of the 2 nd component supplying carriage 70 and the position of the feeder mounting portion 12. In the 2 nd component supplying carriage 70, the identification method 52 of the unit information 40b stored in the management storage unit 40 of the management computer 3 is stored as a "target". In addition, in the unit information 40b, position information of the carriage recognition targets G1, G2 and the mounting portion recognition targets G3, G4 in the 2 nd component supply carriage 70 is stored.

Next, with reference to fig. 18, embodiment 2 of the transfer device (hereinafter, referred to as "2 nd transfer device V1") will be described. The 2 nd transfer device V1 has a robot mechanism 31 and a storage unit 32 above the carriage unit 30, and an end effector 34 is disposed at the front end of the robot mechanism 31, similarly to the transfer device V. The 2 nd transfer device V1 is different from the transfer device V in that a contact sensor 81 is provided at the tip of the end effector 34. Hereinafter, the same components as those of the transfer device V are denoted by the same reference numerals, and detailed description thereof will be omitted.

In fig. 18, the contact sensor 81 has an elongated cylindrical shape protruding from the front surface of the end effector 34, and when the robot mechanism 31 moves the end effector 34 in the X direction, the Y direction, and the Z direction, the contact sensor moves in the X direction, the Y direction, and the Z direction integrally with the end effector 34. When the contact sensor 81 moves and the cylindrical front end surface or side surface contacts any object, it is possible to detect which direction the contact sensor contacts. The detection result of the contact sensor 81 is sent to the recognition processing section 36. The recognition processing unit 36 recognizes (calculates) the position where the contact sensor 81 is in contact with the object based on the position of the end effector 34 (the operation of the robot mechanism 31).

Next, a unit recognition process (ST 5) performed when the 2 nd transfer device V1 automatically replaces the tape feeder 13 as a component feeder mounted on the 2 nd component supply carriage 70 (component supply unit) and the component reel 16 as a component container will be described with reference to fig. 19A to 19C. Here, it is assumed that the transfer device moving step (ST 1) of moving the 2 nd transfer device V1 before the carriage 70 is supplied to the 2 nd component in accordance with the job instruction is ended. That is, the 2 nd transfer device V1 and the 2 nd component supply carriage 70 are in the same positional relationship as the transfer device V and the component supply carriage 5 shown in fig. 14A to 15C.

An example of identifying the left carriage identification target G1 will be described below. That is, in the job instruction generation step (ST 2), the job instruction generation section 41 generates a job instruction including information specifying the cell identifier of the left-side carriage recognition target G1 as the recognition target recognized by the contact sensor 81 (recognition section). Then, in the cell identification step (ST 5), the replacement control unit 46 controls the robot mechanism 31 to perform a contact detection operation described later before the contact sensor 81 moves to the left carriage identification target G1, thereby identifying the position Q1 of the left carriage identification target G1.

In fig. 19A, in the contact detection operation, first, the replacement control unit 46 moves the contact sensor 81 before the carriage identification target G1 that has moved to the left in the Y direction (arrow d 1). In fig. 19B, when it is detected that the front end surface of the contact sensor 81 is in contact with the left inner plate 74, the replacement control section 46 stops the movement of the contact sensor 81 in the Y direction. Next, the replacement control unit 46 moves the contact sensor 81 in the X direction toward the left side plate 72 by bringing the front end surface of the contact sensor 81 into contact with the left side inner plate 74 (arrow d 2).

In fig. 19C, when it is detected that the side surface of the contact sensor 81 is in contact with the left side plate 72, the replacement control unit 46 stops the movement of the contact sensor 81 in the X direction. Next, the replacement control unit 46 moves the contact sensor 81 in the Z direction toward the lower plate 71 by bringing the side surface of the contact sensor 81 into contact with the left side plate 72 (arrow d 3). When detecting that the side surface of the contact sensor 81 has contacted the lower plate 71, the replacement control section 46 stops the movement of the contact sensor 81 in the Z direction. By this series of touch detection operations, the touch sensor 81 is stopped at the corner where the lower plate 71, the left side plate 72, and the left inner plate 74 intersect.

Next, the recognition processing unit 36 calculates (recognizes) the position Q1 of the left carriage recognition target G1 based on the position at which the contact sensor 81 is stopped. The identified position Q1 (identification result) of the left carriage identification target G1 is stored in the transfer storage unit 44 as identification result information 44 b. The order in which the contact is made by the contact detection operation contact sensor 81 is not limited to the above. For example, the left inner plate 74, the lower plate 71, and the left side plate 72 may be contacted in this order. In the cell identification step (ST 5), the position Q2 of the right carriage identification target G2 may be identified. By recognizing the positions Q1, Q2 of the 2-th carriage recognition targets G1, G2, the position of the 2 nd component-supplying carriage 70 can be recognized more accurately.

In the supply device recognition step (ST 6), the replacement control unit 46 controls the robot mechanism 31 to perform the contact detection operation before the contact sensor 81 is moved to the left mounting portion recognition target G3, thereby recognizing the position Q3 of the left mounting portion recognition target G3. In the supply device recognition step (ST 6), the position Q4 of the right mounting portion recognition target G4 may be recognized. By recognizing the positions Q3, Q4 of the 2 mounting portion recognition targets G3, G4, the position of the feeder mounting portion 12 can be recognized more accurately.

As described above, the carriage recognition targets G1, G2 and the mounting portion recognition targets G3, G4 are objects (unit recognition objects) to be contacted formed in the component supply unit (the 2 nd component supply carriage 70). The contact sensor 81 moves together with the end effector 34, and is a detection unit (recognition unit) for detecting contact with the object to be contacted. Then, the recognition result based on the contact sensor 81 (recognition unit) is the position (positions Q1 to Q4) where the detection unit is in contact with the object to be contacted.

In addition to the above-described contact detection operation of sequentially contacting and identifying the right inner plate 75, the right side plate 73, and the lower plate 71, the identification of the position Q2 of the right carriage identification target G2 in the cell identification step (ST 5) may be performed in combination with a distance detection operation described below.

Here, a distance detection operation will be described with reference to fig. 20. In the distance detection operation, after the contact sensor 8 detects the position Q1 of the left carriage recognition target G1 in the contact detection operation, the replacement control unit 46 controls the robot mechanism 31 so that the side surface of the contact sensor 81 comes into contact with the lower plate 71 and the contact sensor 81 moves in the X direction toward the right side plate 73 (arrow e 1). When detecting that the side surface of the contact sensor 81 is in contact with the right side plate 73, the replacement control unit 46 stops the movement of the contact sensor 81 in the X direction.

By this distance detection operation, the touch sensor 81 is stopped at the corner where the lower plate 71, the right side plate 73, and the right inner plate 75 intersect. Next, the recognition processing unit 36 calculates the distance R moved after the contact sensor 81 detects the position Q1 of the left carriage recognition target G1. Further, the recognition processing unit 36 calculates (recognizes) the position Q2 of the right-hand carriage recognition target G2 from the position Q1 of the left-hand carriage recognition target G1 and the distance R by which the contact sensor 81 moves. By the distance detection operation, the time required to identify the position Q2 of the right carriage identification target G2 can be shortened.

In fig. 20, the recognition of the position Q4 of the mounting portion recognition target G4 on the right side in the supply device recognition step (ST 6) may be performed in combination with the contact detection operation and the distance detection operation. That is, after the left mounting portion recognition target G3 is recognized, the contact sensor 81 is moved in the X direction along the upper plate 78 (arrow e 2), and the position Q4 of the right mounting portion recognition target G4 may be calculated based on the distance by which the contact sensor 81 is moved. The recognition result by the contact sensor 81 (recognition unit) in the distance detection operation includes a distance until the detection unit (contact sensor 81) is in contact with the object to be contacted (the right carriage recognition target G2 and the right mounting unit recognition target G4).

The objects to be contacted, which are detected by the contact sensor 81 (detecting unit), are the carriage recognition targets G1 and G2 formed at the lower portion 5a of the 2 nd component supply carriage 70 and the mounting portion recognition targets G3 and G4 formed at the feeder mounting portion 12, but the recognition targets (objects to be contacted) may be formed on other objects and detected (identified) by the contact sensor 81. For example, instead of the tape feeder mark Mt formed on the tape feeder 13 and the lever feeder mark Ms formed on the lever feeder 14 as the feeding device recognition object, the position of the component feeding device may be ascertained (recognized) by the contact sensor 81.

Industrial applicability

The automatic replacement system, the management apparatus, and the automatic replacement method of the present disclosure have an effect of being able to accurately replace the component container, and are useful in the field of mounting components on a substrate.

Claims (15)

1. An automatic replacement system that replaces at least one of a component supply device and a component container of a component supply unit that includes the component container that accommodates a component and the component supply device that moves the component accommodated in the component container to a component supply position, the automatic replacement system comprising:

An end effector holding the component supply device or the component container;

a moving mechanism configured to move the end effector;

a recognition unit that recognizes a unit recognition body provided in the component supply unit and used for recognizing the component supply unit;

a path setting unit that sets a movement path for moving the end effector; and

a transfer device having a control unit for controlling the movement mechanism,

the automatic replacement system further includes a management device having a job instruction generation unit that generates a job instruction including a movement target of the end effector,

the path setting unit sets a movement path for moving the end effector based on a movement target of the end effector included in the work instruction, and sets the movement path so that the end effector moves in different trajectories by an object that the end effector does not hold or holds,

the control unit moves the end effector to at least one of the component supply device and the component container based on the set movement path and based on the recognition result of the recognition unit.

2. The automatic replacement system of claim 1, wherein,

the job instruction generation section generates a job instruction including a moving target of the end effector based on the external dimension information of the component supply unit.

3. The automatic replacement system of claim 2, wherein,

the job instruction generation section generates the job instruction so that the job instruction further includes information of the unit identifier identified by the identification section.

4. The automatic replacement system of claim 2, wherein,

the work instruction generating unit corrects the movement target of the end effector based on any one of the following values, and generates the work instruction including the corrected movement target:

a unit position correction value for correcting the moving target of the end effector based on a positional shift of the unit identifier; and

and a supply device position correction value for correcting the moving target of the end effector based on a position shift of a supply device identifier provided to the component supply device and used for identifying the component supply device.

5. The automatic replacement system of claim 1, wherein,

a supply device identification body for identifying the component supply device is arranged on the component supply device,

the identification unit further identifies the supply device identification body,

the control unit moves the end effector to the component feeder based on the set movement path and the recognition result of the feeder recognition body by the recognition unit.

6. The automatic replacement system of claim 1, wherein,

the unit identifier is a mark formed on the component supply unit,

the identification unit is an imaging unit that captures the mark.

7. The automatic replacement system of claim 1, wherein,

the unit recognition body is a contacted body formed at the component supply unit,

the recognition unit is a detection unit that moves together with the end effector to detect contact with the object to be contacted.

8. The automatic replacement system of claim 7, wherein,

the recognition result is a position where the detection portion is in contact with the contacted object.

9. The automatic replacement system of claim 7, wherein,

The recognition result includes a distance until the detection portion contacts the contacted object.

10. A management device for generating an instruction for a job of a transfer device including a movable end effector, the end effector replacing at least one of a component supply device and a component container of a component supply unit including the component container for housing a component and the component supply device for moving the component housed in the component container to a component supply position, the management device including:

a storage unit configured to store external dimension information of the component supply unit; and

a job instruction generation unit configured to generate a job instruction including a moving target of the end effector based on the external dimension information of the component supply unit stored in the storage unit,

the transfer device sets a movement path for moving the end effector based on a movement target of the end effector included in the work instruction, and sets the movement path so that the end effector moves in different trajectories by an object that is not gripped or gripped by the end effector.

11. An automatic replacement method for replacing at least one of a component supply device and a component container of a component supply unit by a transfer device having a movable end effector, wherein the replacement component supply unit includes the component container for housing a component and the component supply device for moving the component housed in the component container to a component supply position,

the automatic replacement method comprises the following steps:

identifying a unit identifier provided to the component supply unit for identifying the component supply unit;

setting a movement path for moving the end effector; and

moving the end effector to at least either one of the component supply device and the component container based on the set movement path and the recognition result of the unit recognition body,

the automatic replacement method further includes a step of generating a job instruction including a moving target of the end effector,

the step of setting the movement path includes the steps of:

a movement path for moving the end effector is set based on a movement target of the end effector included in the work instruction, and the end effector is moved to set the movement path in different trajectories by an object that is not gripped or gripped by the end effector.

12. The automatic replacement method according to claim 11, wherein,

and generating a job instruction including a moving target of the end effector based on the external dimension information of the component supply unit.

13. The automatic replacement method according to claim 12, wherein,

the job instruction is generated so as to include information of the recognition object of the recognition section.

14. The automatic replacement method according to claim 12, wherein,

correcting the moving target of the end effector based on any one of the following values, and generating the work instruction including the corrected moving target:

a unit position correction value for correcting the moving target of the end effector based on a positional shift of the unit identifier; and

and a supply device position correction value for correcting the moving target of the end effector based on a position shift of a supply device identifier provided to the component supply device and used for identifying the component supply device.

15. The automatic replacement method according to claim 11, wherein,

further comprising a step of identifying a feeder identifier provided in the component feeder and used for identifying the component feeder,

And moving the end effector to the component feeder based on the set movement path and the identification result of the feeder identification body.