CN117546621A - Transfer robot and component mounting system - Google Patents

Abstract

The transfer robot (30) is provided with: a travel unit (31); a holding unit (32 ba) provided on the travel unit, capable of holding the plurality of component supply units (50) in an aligned state in the alignment direction, and capable of moving in the alignment direction; and an insertion/extraction unit (32 ce) that can be replenished to the component mounting device (13) by pushing out the component supply units held by the holding unit individually, can be recovered to the holding unit by pulling out the component supply units held by the component mounting device individually, and can be moved in the arrangement direction.

Description

Transfer robot and component mounting system

Technical Field

The present invention relates to a transfer robot and a component mounting system, and more particularly to a transfer robot and a component mounting system for transferring a component supply unit.

Background

Conventionally, a transport robot for transporting a component supply unit is known. Such a transfer robot is disclosed in, for example, japanese patent No. 6074425.

Japanese patent No. 6074425 discloses a replenishment device (a conveyance robot) for conveying a tape feeder to a mounting machine module to which the tape feeder as a component supply unit is mounted. The replenishment device has an unmanned conveyance carriage and a replenishment unit disposed on the unmanned conveyance carriage. The replenishment unit holds the plurality of tape feeders in an aligned state in the X-axis direction and is movable in the X-axis direction. The replenishment unit is provided with a feeder conveying mechanism including a conveying roller. In this replenishment device, the belt feeder is inserted and removed by driving the conveyor roller of the feeder conveyor mechanism in a state where the replenishment unit is positioned at a predetermined X-axis direction position.

Prior art literature

Patent literature

Patent document 1: japanese patent No. 6074425

Disclosure of Invention

Problems to be solved by the invention

Although not described in japanese patent No. 6074425, in the replenishing device described in japanese patent No. 6074425, when the feeder conveying mechanism including the conveying roller is provided separately for each of the plurality of belt feeders, there is a problem in that the number of components increases. In this case, there is a problem that it is difficult to insert and remove the tape feeder (component supply unit) at an arbitrary position while suppressing an increase in the number of components.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a transfer robot and a component mounting system capable of inserting and removing a component supply unit at an arbitrary position while suppressing an increase in the number of components.

Means for solving the problems

In order to achieve the above object, a transfer robot according to a first aspect of the present invention is a transfer robot for transferring a component to a component mounting device for mounting a component on a substrate, the transfer robot including: a travel unit; a holding unit provided on the traveling unit, capable of holding the plurality of component supply units in an aligned state in the alignment direction, and capable of moving in the alignment direction; and an insertion/extraction section that can be replenished to the component mounting device by pushing out the component supply sections held by the holding section individually, and that can be recovered to the holding section by pulling out the component supply sections held by the component mounting device individually, and that can be moved in the arrangement direction.

In the transfer robot according to the first aspect of the present invention, there is provided: a holding unit provided on the traveling unit, capable of holding the plurality of component supply units in an aligned state in the alignment direction, and capable of moving in the alignment direction; and an insertion/extraction section that can be replenished to the component mounting device by pushing out the component supply sections held by the holding section individually, and that can be recovered to the holding section by pulling out the component supply sections held by the component mounting device individually, and that can be moved in the arrangement direction. Thus, since the insertion and extraction portion can be moved in the arrangement direction, it is not necessary to separately provide the insertion and extraction portion with respect to each of the plurality of component supply portions. As a result, the number of components can be suppressed from increasing as compared with the case where the insertion/extraction portion is provided separately for each of the plurality of component supply portions. Further, since both the holding portion and the insertion portion are movable in the arrangement direction, the component supply portion at an arbitrary position can be inserted and removed by moving the holding portion and the insertion portion in the arrangement direction. As a result, it is possible to provide a transfer robot capable of inserting and removing the component supply unit at an arbitrary position while suppressing an increase in the number of components.

In the above-described transfer robot according to the first aspect, it is preferable that the transfer robot further includes a positioning portion provided in the travel portion and positioning the travel portion with respect to the component mounting device. With this configuration, the component supply unit can be inserted and removed in a state where the transfer robot is positioned with high accuracy with respect to the component mounting apparatus by the positioning unit. As a result, the failure of inserting and extracting the component supply section due to the positional misalignment of the transfer robot and the component mounting apparatus can be suppressed.

In the transfer robot according to the first aspect, it is preferable that the component mounting device be provided with a plurality of mounting positions at which the component supply unit is mounted, and that the holding unit and the insertion/extraction unit be configured to move in the arrangement direction so as to correspond to a predetermined mounting position among the plurality of mounting positions. With this configuration, the holding portion and the insertion portion can be moved in the arrangement direction so as to correspond to a predetermined mounting position among the plurality of mounting positions. As a result, the component supply unit can be easily inserted into and removed from the predetermined mounting position.

In the transfer robot according to the first aspect, the holding portion and the insertion portion are preferably configured to be movable independently of each other in the alignment direction. With this configuration, unlike the case where the holding portion and the insertion/extraction portion integrally move in the arrangement direction, the driving portion of the holding portion can be miniaturized in accordance with the need to move the insertion/extraction portion.

In the transfer robot according to the first aspect, it is preferable that the maximum moving distance of the insertion/extraction portion is longer than the maximum moving distance of the holding portion in the alignment direction. With this configuration, the insertion and removal portion can be moved by a larger movement distance than the holding portion. As a result, the component supply section can be inserted and removed by the insertion and removal section regardless of the position to which the holding section is moved.

In the transfer robot according to the first aspect, it is preferable that an insertion portion into which the insertion portion is inserted is provided at an upper portion of the component supply portion, and the insertion portion is configured to be capable of being lifted and lowered, the insertion portion being configured to: in a state of being inserted into the inserted portion by being lowered, the pushing-out of the component supply portion held by the holding portion and the pulling-out of the component supply portion held by the component mounting device are performed by moving in the insertion-and-extraction direction. With this configuration, the component supply portion held by the holding portion can be easily pushed out and the component supply portion held by the component mounting device can be easily pulled out separately. Further, since the inserted portion provided at the upper portion of the component supply portion is pushed and pulled by the insertion and pulling portion, unlike the case where the back surface portion of the component supply portion in the insertion and pulling direction is pushed and pulled by the insertion and pulling portion, it is not necessary to move the insertion and pulling portion to the rear side of the back surface portion of the component supply portion in the insertion and pulling direction. As a result, the transfer robot can be prevented from being enlarged in the insertion/removal direction, compared with a case where the insertion/removal portion is moved to the rear side of the rear surface portion in the insertion/removal direction of the component supply portion.

In the transfer robot according to the first aspect, the component supply unit is preferably configured to slide on the holding unit, and the contact surface between the insertion unit and the inserted unit is preferably provided as a tapered surface for eliminating torque generated during the sliding movement of the component supply unit. With this configuration, even if torque is generated during sliding movement of the component supply section, the generated torque can be eliminated (relaxed) by the tapered surface of the insertion/extraction section. As a result, the component supply portion can be prevented from getting stuck (becoming unable to move) during the sliding movement due to the torque.

In the transfer robot according to the first aspect, the contact surface preferably includes a first contact surface of the insertion/extraction portion in an extraction direction in contact with the insertion/extraction portion and a second contact surface of the insertion/extraction portion in an ejection direction in contact with the insertion/extraction portion, the first contact surface being provided as a tapered surface, and the second contact surface being provided as a vertical surface. With this configuration, even if torque is generated during sliding movement of the component supply portion in the pull-out direction, the first contact surface of the insertion portion is provided as a tapered surface, so that the generated torque can be eliminated (relaxed) by the first contact surface as a tapered surface. Further, since the second contact surface of the insertion/extraction portion is provided as a vertical surface during sliding movement of the component supply portion in the pushing-out direction, force can be transmitted more reliably than in the case where the second contact surface is provided as a tapered surface. This structure is effective in the case where torque is easily generated when the component supply portion is slid in the pull-out direction and torque is not easily generated when the component supply portion is slid in the push-out direction.

In the transfer robot according to the first aspect, it is preferable that the transfer robot further includes a locking portion for locking a position of the component supply portion held by the holding portion by being inserted into the inserted portion, and the locking portion is configured to be unlocked by being inserted into the inserted portion of the component supply portion by being lowered by the insertion portion. With this configuration, the position of the component supply unit held by the holding unit can be locked by the locking unit, and therefore, the component supply unit can be prevented from falling off the holding unit during traveling of the transfer robot. In addition, since the lock is released by effectively utilizing the insertion operation of the insertion/extraction portion into the inserted portion of the component supply portion, it is not necessary to perform the operation for releasing the lock independently. As a result, the operation for releasing the lock can be suppressed from being complicated.

In the transfer robot according to the first aspect, it is preferable that the transfer robot further includes a reading unit that is provided so as to be movable in the alignment direction integrally with the insertion/extraction unit and reads the identification information of the component supply unit. With this configuration, the identification information of the component supply unit can be read by the reading unit at the time of insertion and removal, and thus insertion and removal of the component supply unit for each piece of identification information can be recorded. As a result, traceability (traceability) of the component supply unit can be ensured.

In order to achieve the above object, a component mounting system of a second aspect of the present invention includes: a component mounting device for mounting a component on a substrate; a storage device for storing the components in the component supply part of the component mounting device; and a transfer robot for transferring the component supply unit between the component mounting device and the storage device, the transfer robot comprising: a travel unit; a holding unit provided on the traveling unit, capable of holding the plurality of component supply units in an aligned state in the alignment direction, and capable of moving in the alignment direction; and an insertion/extraction section that can be replenished to the component mounting device by pushing out the component supply sections held by the holding section individually, and that can be recovered to the holding section by pulling out the component supply sections held by the component mounting device individually, and that can be moved in the arrangement direction.

In the component mounting system of the second aspect of the present invention, there is provided: a holding unit provided on the traveling unit, capable of holding the plurality of component supply units in an aligned state in the alignment direction, and capable of moving in the alignment direction; and an insertion/extraction section that can be replenished to the component mounting device by pushing out the component supply sections held by the holding section individually, and that can be recovered to the holding section by pulling out the component supply sections held by the component mounting device individually, and that can be moved in the arrangement direction. Thus, since the insertion and extraction portion can be moved in the arrangement direction, it is not necessary to separately provide the insertion and extraction portion with respect to each of the plurality of component supply portions. As a result, the number of components can be suppressed from increasing as compared with the case where the insertion/extraction portion is provided separately for each of the plurality of component supply portions. Further, since both the holding portion and the insertion portion are movable in the arrangement direction, the component supply portion at an arbitrary position can be inserted and removed by moving the holding portion and the insertion portion in the arrangement direction. As a result, it is possible to provide a component mounting system capable of inserting and removing the component supply section at an arbitrary position while suppressing an increase in the number of components.

Effects of the invention

According to the present invention, as described above, it is possible to provide a transfer robot and a component mounting system capable of inserting and removing a component supply unit at an arbitrary position while suppressing an increase in the number of components.

Drawings

Fig. 1 is a block diagram showing a component mounting system of an embodiment of the present invention.

Fig. 2 is a schematic diagram showing a component mounting apparatus of a component mounting system of an embodiment of the present invention.

Fig. 3 is a perspective view illustrating a transfer robot according to an embodiment of the present invention.

Fig. 4 is a perspective view showing a state in which the exterior of the transfer robot according to an embodiment of the present invention is removed.

Fig. 5 is a plan view showing a state in which the exterior of the transfer robot according to an embodiment of the present invention is removed.

Fig. 6 is a side view showing a state in which the exterior of the transfer robot is removed and a component mounting apparatus according to an embodiment of the present invention.

Fig. 7 is a perspective view showing a plug unit according to an embodiment of the present invention.

Fig. 8 is a partial enlarged view of fig. 7.

Fig. 9 is a perspective view showing a lock portion, a plug portion, and an insertion portion according to an embodiment of the present invention.

Fig. 10 is a schematic side view showing a lock portion, a plug portion, and an insertion portion according to an embodiment of the present invention.

Fig. 11 is a schematic view for explaining the replenishment operation of the component supply unit to the component mounting device by the transfer robot according to the embodiment of the present invention.

Fig. 12 is a schematic diagram for explaining an unlocking operation of the lock portion according to the embodiment of the present invention.

Fig. 13 is a schematic view for explaining a locking operation of a locking portion according to an embodiment of the present invention.

Fig. 14 is a schematic diagram for explaining torque cancellation according to an embodiment of the present invention.

Detailed Description

Hereinafter, embodiments embodying the present invention will be described with reference to the drawings.

(Structure of component mounting System)

With reference to fig. 1 and 2, a structure of a component mounting system 100 according to an embodiment of the present invention will be described.

The component mounting system 100 of the present embodiment is configured to mount components on a substrate S to manufacture a substrate S on which the components are mounted. The substrate S is a printed substrate on which a wiring of a conductor is formed. The component is an electronic component such as LSI, IC, transistor, capacitor, or resistor.

As shown in fig. 1, the component mounting system 100 includes a mounting line 10, a storage device 20, a transfer robot 30, and a management device 40. The mounting line 10 is disposed in a mounting area A1 where the substrate S is manufactured. The storage device 20 is disposed in a work area A2 where an operator performs work.

The mounting line 10 is provided in plurality in the mounting area A1. The mounting line 10 includes a printer 11, a printing inspection machine 12, a component mounting device 13, an appearance inspection device 14, and a reflow device 15. The mounting line 10 is configured to transport the substrate S from the upstream side toward the downstream side along the manufacturing line.

The printer 11 is a screen printer, and has a function of applying solder paste onto the mounting surface of the substrate S.

The printing inspection machine 12 has a function of inspecting the state of solder paste printed by the printer 11.

The component mounting device 13 has a function of mounting components at predetermined mounting positions on the substrate S on which solder paste is printed. The component mounting device 13 has a mounting head. In addition, the component mounting device 13 is provided in plurality along the conveyance direction of the substrate S. The plurality of component mounting devices 13 have the same structure.

As shown in fig. 2, the component mounting apparatus 13 further includes a feeder hopper 13a in which a component feeder 50 for feeding components is disposed.

The component supply unit 50 is a tape feeder that supplies components by means of a component supply tape T (see fig. 3) that holds components. Specifically, the component supply unit 50 is a cassette feeder having a reel R (see fig. 3) for holding the component supply tape T and a conveying mechanism 50a such as a sprocket for conveying the component supply tape T in the main body.

The feeder hopper 13 is provided with a plurality of mounting positions at which the component supply units 50 are mounted. The component supply sections 50 are detachably mounted at a plurality of mounting positions, respectively. The feeder hopper 13a is provided with a plurality (2).

The component mounting device 13 further includes a positioning portion 13b that engages with a positioning portion 31c of the transfer robot 30, which will be described later. The positioning portion 13b is a positioning pin protruding outward from the surface of the component mounting device 13. The positioning portions 13b are provided in plural (2). In addition, a plurality of positioning portions 13b are provided for each feeder hopper 13 a.

As shown in fig. 1, the appearance inspection device 14 has a function of inspecting the appearance of the substrate S on which the component is mounted by the component mounting device 13.

The reflow apparatus 15 has a function of melting solder by performing a heat treatment to join components to electrode portions of the substrate S.

The storage device 20 is configured to store the component supply unit 50. The storage device 20 is provided in plurality in the work area A2. The storage device 20 is a rack having a substantially horizontal mounting portion in which a plurality of component supply portions 50 can be arranged, for example. The storage device 20 includes a supply rack that stores the component supply unit 50 for predetermined use, which is replenished (assembled) to the component mounting device 13, and a return rack that stores the used component supply unit 50, which is recovered from the component mounting device 13.

The component supply unit 50 that supplements the component mounting device 13 is prepared and arranged by an operator in the storage device 20 as a supply rack. The component supply unit 50 disposed in the storage device 20 as a supply rack is mounted on the transfer robot 30. The component supply unit 50, which is recovered from the component mounting device 13, is disposed in the storage device 20 as a return rack by the transfer robot 30. The component supply unit 50 disposed in the storage device 20 as a return rack is collected by the operator.

The transfer robot 30 is an autonomous robot. The transfer robot 30 is configured to transfer the component supply unit 50 between the component mounting device 13 and the storage device 20. The transfer robot 30 is configured to transfer the component supply unit 50 for a predetermined use, which is acquired from the storage device 20 as a supply rack, to the component mounting device 13. The transfer robot 30 is configured to transfer the used component supply unit 50 acquired from the component mounting device 13 to the storage device 20 serving as a return rack. In fig. 1, for convenience, only 1 transfer robot 30 is shown, but a plurality of transfer robots 30 are provided. The detailed configuration of the transfer robot 30 will be described later.

The management device 40 is 1 or more computers that manage the component mounting system 100. The management device 40 includes a processor and a memory. The management device 40 is configured to manage production schedule information of the substrate S. The management device 40 is configured to manage a program used for manufacturing the substrate S in each device of the mounting line 10. The management device 40 is configured to manage information of components used in each device of the mounting line 10 (information of the remaining amount of components in the component mounting device 13, and the like). The management device 40 is configured to manage replenishment and collection of the component supply unit 50 based on production schedule information, component remaining amount information, and the like.

The management device 40 is configured to output information for replenishing and collecting the component supply unit 50 to the operator, the transfer robot 30, and the like. The worker arranges the component supply unit 50 for predetermined use in the storage device 20 as a supply rack based on the information from the management device 40. The transfer robot 30 supplements the component mounting device 13 with the component supply unit 50 to be used, based on the information from the management device 40, and recovers the used component supply unit 50 from the component mounting device 13. At this time, the transfer robot 30 may replace (collect and replenish) the used component supply unit 50 with a new component supply unit 50 for predetermined use.

(Structure of transfer robot)

Next, a configuration of the transfer robot 30 will be described with reference to fig. 3 to 10. Hereinafter, the direction in which the plurality of component supply units 50 in the transfer robot 30 are arranged is referred to as the X direction. One direction of the arrangement directions of the plurality of component supply units 50 is the X1 direction, and the other direction is the X2 direction. The insertion/removal direction of the plurality of component supply units 50 in the transfer robot 30 is defined as the Y direction. The insertion direction of the plurality of component supply units 50 into the component mounting device 13 is defined as the Y1 direction, and the extraction direction of the plurality of component supply units 50 from the component mounting device 13 is defined as the Y2 direction. The X-direction and the Y-direction are both horizontal directions. The X direction and the Y direction are directions substantially orthogonal to each other in a horizontal plane. The vertical direction substantially orthogonal to the X direction and the Y direction is referred to as the Z direction. The upper direction of the vertical direction is referred to as the Z1 direction, and the lower direction is referred to as the Z2 direction.

As shown in fig. 3, the transfer robot 30 includes a travel unit 31, a loading unit 32 provided in the travel unit 31, a control unit 33, and a communication unit 34.

The traveling unit 31 includes an autonomous traveling unit 31a and a carriage unit 31b. The autonomous traveling unit 31a has a plurality of wheels 31aa (see fig. 6) as driving wheels rotationally driven by a motor, and is configured to travel autonomously. The autonomous traveling unit 31a is, for example, an AGV (Automatic Guided Vehicle: automatic guided vehicle). The carriage unit 31b is coupled to the autonomous traveling unit 31a, and is configured to be towed by the autonomous traveling unit 31 a. The carriage portion 31b has a plurality of wheels 31ba as driven wheels. The traveling unit 31 is configured such that the weight of the loading unit 32 is received by the carriage unit 31b, and the carriage unit 31b that receives the weight of the loading unit 32 is pulled by the autonomous traveling unit 31 a.

The traveling unit 31 is provided with a positioning unit 31c for positioning the traveling unit 31 (the transfer robot 30) with respect to the component mounting device 13. The positioning portion 31c is configured to position the traveling portion 31 (the transfer robot 30) with respect to the component mounting device 13 in the X direction by engaging with the positioning portion 13b of the component mounting device 13. The positioning portion 31c is a positioning hole recessed inward from the surface of the running portion 31. The positioning portions 31c are provided in plural (2) so as to correspond to the plural (2) positioning portions 13b of the component mounting device 13.

As shown in fig. 3 and 4, the loading portion 32 includes an outer housing portion 32a, a holding unit 32b, and a plug-in unit 32c. The exterior part 32a constitutes a part of the housing of the transfer robot 30. The exterior part 32a has a box shape having an opening 32aa opening in the Y1 direction for inserting and removing the plurality of component supply parts 50. The component supply part 50 held in the exterior part 32a is inserted and removed through the opening part 32 aa. Further, a holding unit 32b and a plug-in unit 32c are provided in the exterior portion 32 a.

As shown in fig. 4 to 6, the holding unit 32b includes a holding portion 32ba, a driving mechanism portion 32bb, and a locking portion 32bc. Here, in the present embodiment, the holding portion 32ba is configured to be capable of holding the plurality of component supply portions 50 in a state of being aligned in the X direction and to be capable of moving in the X direction. The holding portion 32ba has a holding plate 321a and a plurality of guide-side rail portions 321b.

The holding plate 321a has a support surface substantially parallel to the horizontal direction, and is configured to support the lower portion of the component supply unit 50 by the support surface. At the time of insertion and removal of the component supply portion 50, the component supply portion 50 slides on the support surface of the holding plate 321a in the Y direction. The holding plate 321a has a substantially rectangular shape having a short side direction in the X direction and a long side direction in the Y direction in a plan view (when viewed from the Z direction).

The plurality of guide-side rail portions 321b are configured to guide sliding movement of the component supply portion 50 in the Y direction at the time of insertion and removal of the component supply portion 50. The plurality of guide-side rail portions 321b are configured to engage with the guided-side rail portions 50b of the component supply portion 50. The guided side rail portion 50b is provided at a lower portion of the component supply portion 50 so as to extend in the Y direction. The plurality of guide rail portions 321b are provided so as to extend in the Y direction. The plurality of guide-side rail portions 321b are arranged at predetermined intervals in the X direction. In addition, a plurality of passages L in which the component supply portions 50 are respectively arranged are formed by the plurality of guide-side rail portions 321 b. The plurality of channels L are arranged at prescribed intervals in the X direction.

The driving mechanism 32bb is configured to move the holding portion 32ba in the X direction. The driving mechanism 32bb includes a ball screw shaft 322a and a driving motor 322b. The ball screw shaft 322a is provided so as to extend in the X direction. The driving motor 322b is configured to rotate the ball screw shaft 322a about a rotation axis extending in the X direction. The driving mechanism 32bb is configured to move the holding portion 32ba coupled to the ball screw shaft 322a in the X direction by rotating the ball screw shaft 322a by the driving motor 322b. The driving mechanism 32bb is configured to move the holding portion 32ba in the X direction by the number of passages L.

The locking portion 32bc is configured to lock the position of the component supply portion 50 held by the holding portion 32ba so as to prevent the component supply portion 50 from falling off during traveling of the transfer robot 30. The lock portion 32bc is provided for each passage L (component supply portion 50). The lock portion 32bc is integrally movably coupled to the holding portion 32ba in the X direction by a coupling member 32 bd. The details of the lock portion 32bc will be described later.

As shown in fig. 4 to 8, the insertion/removal unit 32c includes an arm portion 32ca and an arm portion driving mechanism portion 32cb. The arm portion 32ca has an arm shape and includes a hand portion 32cc and a hand driving mechanism portion 32cd. The arm driving mechanism 32cb is configured to move the arm 32ca in the X direction. The arm driving mechanism 32cb includes a ball screw shaft 323a and a driving motor 323b. The ball screw shaft 323a is provided so as to extend in the X direction. The driving motor 323b is configured to rotate the ball screw shaft 323a about a rotation axis extending in the X direction. The arm driving mechanism 32cb is configured to move the arm 32ca coupled to the ball screw shaft 323a in the X direction by rotating the ball screw shaft 323a by the driving motor 323b.

The hand 32cc has a plug portion 32ce and a plug portion driving mechanism portion 32cf. The hand driving mechanism 32cd is configured to move the hand 32cc in the Y direction. The hand driving mechanism 32cd includes a ball screw shaft 324a and a driving motor 324b. The ball screw shaft 324a is provided so as to extend in the Y direction. The driving motor 324b is configured to rotate the ball screw shaft 324a about a rotation axis extending in the Y direction. The hand driving mechanism 32cd is configured to move the hand 32cc coupled to the ball screw shaft 324a in the X direction by rotating the ball screw shaft 324a by the driving motor 324b.

The insertion/extraction portion 32ce is configured to insert and extract the component supply portion 50. The insertion and extraction section driving mechanism section 32cf is configured to move the insertion and extraction section 32ce in the Z direction. The insertion and extraction section driving mechanism section 32cf has a rack-and-pinion pair 325a and a driving motor 325b. The rack-and-pinion gear pair 325a has a rack 325aa extending in the Z direction and a pinion 325ab that moves the rack 325aa in the Z direction. The drive motor 325b is configured to rotate the pinion 325ab about a rotation axis extending in the Y direction. The insertion/extraction section driving mechanism section 32cf is configured to move the insertion/extraction section 32ce coupled to the rack 325aa in the X direction by rotating the pinion 325ab by the driving motor 325b.

Here, in the present embodiment, the insertion/extraction portion 32ce is a plug, and is configured to be able to be replenished to the component mounting device 13 by pushing out the component supply portion 50 held by the holding portion 32ba alone, and to be able to be recovered to the holding portion 32ba and to be moved in the X direction by pulling out the component supply portion 50 held by the component mounting device 13 alone. The insertion and extraction portion 32ce is configured to be movable in the Y direction and the Z direction. The insertion and extraction portion 32ce is configured to be moved in the X direction by the arm driving mechanism portion 32 cb. The insertion/extraction portion 32ce is configured to be moved in the Y direction by the hand driving mechanism portion 32 cd. The insertion and extraction unit 32ce is configured to be moved in the Z direction by the insertion and extraction unit driving mechanism unit 32 cf.

In the present embodiment, the holding portion 32ba and the insertion/extraction portion 32ce are configured to move in the X direction so as to correspond to a predetermined mounting position among a plurality of mounting positions of the component mounting device 13 when the component supply portion 50 is inserted and extracted. For example, the holding portion 32ba and the insertion/extraction portion 32ce are configured to move in the X direction so as to correspond to the mounting position of the component supply portion 50 to be inserted out of the plurality of mounting positions of the component mounting device 13 when the component supply portion 50 is inserted into the component mounting device 13. Further, for example, the holding portion 32ba and the insertion and extraction portion 32ce are configured to move in the X direction so as to correspond to an assembly position of the component supply portion 50 to be extracted out of a plurality of assembly positions of the component mounting device 13 when the component supply portion 50 is extracted from the component mounting device 13.

In the present embodiment, the holding portion 32ba and the insertion and extraction portion 32ce are configured to be movable independently of each other in the X direction. That is, the holding portion 32ba and the insertion and extraction portion 32ce are separated from each other in structure. A holding unit 32b including a holding portion 32ba is provided on the carriage portion 31b, and an inserting and extracting unit 32c including an inserting and extracting portion 32ce is suspended from a ceiling portion 32ab of the loading portion 32. The weight of the insertion/removal unit 32c is applied to the ceiling portion 32ab, and is not applied to the holding unit 32b. The holding unit 32b and the inserting/extracting unit 32c are configured to be able to operate independently of each other.

In the present embodiment, the maximum movement distance D1 of the insertion and extraction portion 32ce is larger than the maximum movement distance D2 of the holding portion 32ba in the X direction. In the X direction, the movement range of the insertion/extraction portion 32ce overlaps the entire movement range of the holding portion 32 ba. The insertion/extraction portion 32ce is configured to: the component supply unit 50 can be inserted and removed at all positions (all passages L) on the holding unit 32ba, regardless of the position of the holding unit 32ba in the X direction. The holding portion 32ba and the insertion and extraction portion 32ce move in the fixed outer cover portion 32 a.

In the present embodiment, as shown in fig. 6, 9, and 10, an inserted portion 50c into which the insertion/extraction portion 32ce is inserted is provided at the rear end of the upper portion of the component supply portion 50. The insertion/extraction portion 32ce is configured to be liftable (movable in the Z direction) and is configured to: in a state of being inserted into the inserted portion 50c by being lowered (moved in the Z2 direction), the pushing out of the component supply portion 50 held by the holding portion 32ba and the pulling out of the component supply portion 50 held by the component mounting device 13 are performed by being moved in the Y direction. The insertion and extraction portion 32ce has a rod shape extending in the Z direction. The tip end portion on the Z2 direction side of the rod-shaped insertion/extraction portion 32ce is inserted into the inserted portion 50c.

The inserted portion 50c is provided with a first portion 50ca that contacts the insertion and extraction portion 32ce when the insertion and extraction portion 32ce moves in the Y1 direction. When the component supply unit 50 held by the holding unit 32ba is replenished to the component mounting device 13, the insertion/extraction unit 32ce moves in the Y1 direction and comes into contact with the first portion 50ca. Then, the insertion and extraction portion 32ce pushes the first portion 50ca in the Y1 direction, thereby pushing out the component supply portion 50 from the holding portion 32ba and inserting it into the feeder hopper 13a of the component mounting device 13. Thereby, the component supply unit 50 for the predetermined use is replenished to the component mounting device 13.

The inserted portion 50c is provided with a second portion 50cb that contacts the insertion and extraction portion 32ce when the insertion and extraction portion 32ce moves in the Y2 direction. When the component supply unit 50 held by the component mounting device 13 is recovered to the holding unit 32ba, the insertion/extraction unit 32ce moves in the Y2 direction and comes into contact with the second portion 50cb. Then, the insertion and extraction portion 32ce pushes the second portion 50cb in the Y2 direction to extract the component supply portion 50 from the feeder hopper 13a of the component mounting device 13 to the holding portion 32ba. Thereby, the used component supply unit 50 is recovered from the component mounting device 13.

The first portion 50ca and the second portion 50cb have a pin shape. In addition, the first portion 50ca is provided separately from the second portion 50cb on the Y1 direction side. In addition, the second portion 50cb is provided separately from the first portion 50ca on the Y2 direction side. A distal end portion on the Z2 direction side of the insertion/extraction portion 32ce is inserted into a space between the first portion 50ca and the second portion 50cb.

In the present embodiment, as shown in fig. 8 to 10, the contact surface between the insertion portion 32ce and the inserted portion 50c is provided as a tapered surface for eliminating a torque M (see fig. 14) to be described later generated during the sliding movement of the component supply portion 50. Specifically, the contact surface of the insertion/extraction portion 32ce with the inserted portion 50c includes a first contact surface 326a of the insertion/extraction portion 32ce in the Y2 direction that contacts the inserted portion 50c, and a second contact surface 326b of the insertion/extraction portion 32ce in the Y1 direction that contacts the inserted portion 50 c. The first contact surface 326a of the first contact surface 326a and the second contact surface 326b is provided as a tapered surface inclined with respect to the Z direction. The first contact surface 326a is inclined from the Z2 direction side toward the Z1 direction side toward the Y1 direction side. The first contact surface 326a contacts the second portion 50cb of the inserted portion 50 c. The second contact surface 326b is provided as a vertical surface extending in the Z direction. The second contact surface 326b contacts the first portion 50ca of the inserted portion 50 c.

In the present embodiment, as shown in fig. 9 and 10, the locking portion 32bc is configured to lock the position of the component supply portion 50 held by the holding portion 32ba by being inserted into the inserted portion 50 c. The lock portion 32bc is configured to be unlocked by being inserted into the inserted portion 50c of the component supply portion 50 by the insertion and extraction portion 32ce being lowered.

The lock portion 32bc includes a lock lever 327a, a rotation shaft portion 327b, and a biasing portion 327c. The lock lever 327a is configured to lock the position of the component supply unit 50 by engaging the distal end portion with the second portion 50cb of the inserted portion 50 c. The rotation shaft portion 327b rotatably supports the lock lever 327a about a rotation axis extending in the X direction. The biasing portion 327c is a torsion spring, and is provided on the rotation shaft portion 327b. The biasing portion 327c biases the lock lever 327a in a direction in which the component supply portion 50 is locked by the lock lever 327 a. The lock lever 327a is rotatable in a direction to unlock the component supply unit 50 by the lock lever 327a against the biasing force of the biasing unit 327c.

In the present embodiment, as shown in fig. 6 and 7, the insertion/removal unit 32c is provided with a reading unit 32cg that is provided so as to be movable in the X direction integrally with the insertion/removal unit 32ce and reads the identification information 50d of the component supply unit 50. The identification information 50d is a one-dimensional or two-dimensional bar code provided on the back surface of the component supply unit 50. The reading unit 32cg is a bar code reader.

The reading unit 32cg is configured to: when the component supply unit 50 is inserted and removed, the component supply unit moves in the X direction to a position opposite to the identification information 50d of the component supply unit 50 in the Y direction, thereby reading the identification information 50d. The reading unit 32cg is provided at the rear end of the hand driving mechanism unit 32 cd. The reading unit 32cg is configured to: the arm driving mechanism 32cb moves in the X direction, while the hand driving mechanism 32cd does not move in the Y direction.

As shown in fig. 2, the control unit 33 is configured to control the operation of the transfer robot 30. The control unit 33 is a control circuit including a processor for controlling the operation of the transfer robot 30 and a memory storing a program for controlling the operation of the transfer robot 30. The control unit 33 controls the traveling operation of the transfer robot 30 by controlling, for example, the driving wheels of the autonomous traveling unit 31a of the traveling unit 31. Further, for example, the control unit 33 controls the drive motor 322b of the holding unit 32b and the drive motors 323b, 324b, and 325b of the inserting/extracting unit 32c to control the inserting/extracting operation of the component supply unit 50.

The communication unit 34 is configured to communicate with the management device 40. The control unit 33 is configured to: based on the information from the management device 40 acquired via the communication unit 34, the operation of the transfer robot 30 is controlled so as to supplement the component supply unit 50 for the intended use to the component mounting device 13 or to collect the used component supply unit 50 from the component mounting device 13. The control unit 33 is configured to: the information of the identification information 50d read by the reading unit 32cg at the time of the insertion and extraction of the component supply unit 50 is outputted to the management device 40 via the communication unit 34 in a state in which the information is associated with the information of the time at which the identification information 50d was read, the information of the component mounting device 13 in which the insertion and extraction of the component supply unit 50 was performed, and the like, and traceability information can be ensured.

(supplement action of component supply part)

Next, with reference to fig. 11, a description will be given of the replenishment operation of the component supply unit 50 to the component mounting device 13 by the transfer robot 30 according to the present embodiment. In fig. 11, the component mounting apparatus 13 and the transfer robot 30 are schematically shown for convenience.

As shown in fig. 11 (a), first, the transfer robot 30 moves to the front face of the feeder hopper 13a of the component mounting device 13. Then, as shown in fig. 11 (B), the positioning portion 13B of the component mounting device 13 is engaged with the positioning portion 31c of the transfer robot 30 by the transfer robot 30 moving forward. Thereby, the transfer robot 30 is positioned in the X direction with respect to the component mounting device 13.

Then, as shown in fig. 11C, the holding portion 32ba is moved in the X direction, so that the component supply portion 50 (indicated by hatching) to be inserted held by the holding portion 32ba is moved to the position before the component mounting device 13 is placed at the empty mounting position of the feeder stocker 13 a. Then, as shown in fig. 11 (D), the insertion portion 32ce moves in the X direction, and the insertion portion 32ce moves to a position where the insertion-target component supply portion 50 held by the holding portion 32ba can be pushed out. That is, the insertion/extraction portion 32ce moves to a position above the inserted portion 50c of the component supply portion 50 to be inserted held by the holding portion 32 ba. At this time, the reading unit 32cg is disposed at a position facing the identification information 50d of the component supply unit 50 to be inserted held by the holding unit 32ba in the Y direction, and thus the identification information 50d of the component supply unit 50 before insertion is read by the reading unit 32 cg. Then, the insertion/extraction portion 32ce is lowered, and the distal end portion of the insertion/extraction portion 32ce is inserted into the inserted portion 50 c.

Then, as shown in fig. 11 (E), the first portion 50ca of the inserted portion 50c is pushed in the Y1 direction by the movement of the insertion/extraction portion 32ce in the Y1 direction. Thereby, the component supply unit 50 is pushed out in the Y1 direction and inserted into the empty mounting position of the feeder hopper 13a of the component mounting device 13. As a result, the component supply section 50 for predetermined use is replenished to the component mounting device 13. Although the detailed description is omitted, the component supply unit 50 is operated in the insertion phase when it is pulled out from the component mounting device 13 after use.

As described above, in the present embodiment, by moving the holding portion 32ba and the insertion/extraction portion 32ce in the X direction, the component supply portion 50 can be inserted and extracted at an arbitrary position on the holding portion 32 ba. Further, by moving the holding portion 32ba and the insertion and extraction portion 32ce in the X direction, the component supply portion 50 can be replenished to the same mounting position of the component mounting device 13 different from each other.

(locking action and unlocking action)

Next, with reference to fig. 12 and 13, the locking operation and the unlocking operation of the component supply unit 50 by the locking unit 32bc of the transfer robot 30 according to the present embodiment will be described. First, with reference to fig. 12, a description will be given of an unlocking operation at the time of the replenishment operation of the component supply section 50 to the component mounting device 13. In fig. 12 and 13, the lock portion 32bc, the insertion/extraction portion 32ce, and the inserted portion 50c are schematically shown for convenience.

As shown in fig. 12 a, first, in a state where the tip end portion of the lock lever 327a of the lock portion 32bc is engaged with the second portion 50cb of the inserted portion 50c of the component supply portion 50 (i.e., a locked state), the insertion/extraction portion 32ce is lowered toward the inserted portion 50 c. Then, as shown in fig. 12 (B), when the distal end portion of the insertion/extraction portion 32ce is inserted into the inserted portion 50c, the distal end portion of the insertion/extraction portion 32ce abuts against the distal end portion of the lock lever 327a, and the distal end portion of the lock lever 327a is pushed downward. Thereby, the lock lever 327a rotates in the unlocking direction around the rotation shaft 327b against the biasing force of the biasing portion 327 c. As a result, the engagement between the distal end portion of the lock lever 327a and the second portion 50cb is released. Thereby, the lock portion 32bc is unlocked from the component supply portion 50. Then, the insertion/extraction portion 32ce inserted into the inserted portion 50c moves in the Y1 direction, whereby the component supply portion 50 performs the replenishment operation for the component mounting device 13.

Next, a locking operation when the component supply unit 50 is pulled out from the component mounting device 13 will be described with reference to fig. 13.

As shown in fig. 13 (a), the second portion 50cb of the inserted portion 50c of the component supply portion 50 is pushed in the Y2 direction by the distal end portion of the insertion/extraction portion 32ce, and the component supply portion 50 moves in the Y2 direction. Then, as shown in fig. 13 (B), the distal end portion of the insertion/extraction portion 32ce abuts against the distal end of the lock lever 327a, and the distal end portion of the lock lever 327a is pushed downward. Thereby, the lock lever 327a rotates in the unlocking direction around the rotation shaft 327b against the biasing force of the biasing portion 327 c. Then, as shown in fig. 13 (C), when the component supply unit 50 is moved in the Y2 direction, the insertion/removal unit 32ce is raised. Thereby, the lock lever 327a is rotated in the locking direction around the rotation shaft 327b by the urging force of the urging portion 327 c. As a result, the distal end portion of the lock lever 327a engages with the second portion 50 cb. Thereby, the component supply portion 50 is locked by the locking portion 32 bc. Thereafter, the locked state of the component supply unit 50 by the locking unit 32bc is maintained by the urging force of the urging unit 327c during the traveling of the transfer robot 30.

(elimination of Torque)

Next, with reference to fig. 14, the torque cancellation by the transfer robot 30 according to the present embodiment will be described. In fig. 14, for convenience, the component supply unit 50 and the insertion/extraction unit 32ce are schematically shown.

As shown in fig. 14 (a) to (C), when the component supply unit 50 is pulled out from the component mounting device 13, the second portion 50cb of the inserted portion 50C of the component supply unit 50 is pushed in the Y2 direction by the distal end portion of the insertion/removal portion 32ce, and the component supply unit 50 moves in the Y2 direction. At this time, the component supply portion 50 is slid in the Y2 direction in a state where the guided side rail portion 50b of the component supply portion 50 is guided by the guide side rail portion 321b of the holding portion 32 ba. A part of the guided-side rail portion 50b is covered by the guided-side rail portion 321b from above.

Further, when the component supply unit 50 slides in the Y2 direction, a torque M is generated with the rear end (end on the Y2 direction side) of the guided rail portion 50b as the rotation center. The torque M includes a component in the Y2 direction and a component in the Z2 direction. When the torque M is generated, the leading end side of the guided rail portion 50b floats up by rotation about the rear end of the guided rail portion 50b, and therefore the guided rail portion 50b abuts against the guided rail portion 321b, and the component supply portion 50 is locked (becomes immovable).

On the other hand, in the present embodiment, in the sliding movement of the component supply portion 50 in the Y2 direction, the second portion 50cb is pushed in a state where the first contact surface 326a provided as the tapered surface for eliminating the torque M is in contact with the second portion 50cb of the inserted portion 50c of the component supply portion 50. Accordingly, the second portion 50cb can be pushed while generating not only the Y2-directional force for sliding the component supply unit 50 in the Y2 direction but also the Z1-directional force for canceling the Z2-directional component of the torque M at the first contact surface 326 a.

In the sliding movement of the component supply unit 50 in the Y1 direction, a torque is generated with the tip end (end on the Y1 direction side) of the guided rail portion 50b as the rotation center. However, in the case where the insertion portion 50c is pushed by the insertion/extraction portion 32ce immediately above the rear end of the guided-side rail portion 50b (i.e., immediately above the rotation center) as in the present embodiment, the torque with the front end of the guided-side rail portion 50b as the rotation center is smaller than the torque with the rear end of the guided-side rail portion 50b as the rotation center, and the jam of the component supply portion 50 is less likely to occur. Therefore, in the present embodiment, the second contact surface 326b of the insertion and extraction portion 32ce is provided not as a tapered surface but as a vertical surface. In the case where the component supply unit 50 is caught when the component supply unit 50 is slid in the Y1 direction, the second contact surface 326b may be provided as a tapered surface.

(effects of the present embodiment)

In the present embodiment, the following effects can be obtained.

In the present embodiment, as described above, the transfer robot 30 is provided with: a holding unit 32ba provided on the traveling unit 31, capable of holding the plurality of component supply units 50 in an aligned state in the alignment direction, and capable of moving in the alignment direction; and an insertion/extraction portion 32ce that can be replenished to the component mounting device 13 by pushing out the component supply portion 50 held by the holding portion 32ba alone, and that can be recovered to the holding portion 32ba by pulling out the component supply portion 50 held by the component mounting device 13 alone, and that can be moved in the arrangement direction. Thus, since the insertion and extraction portion 32ce can be moved in the arrangement direction, it is not necessary to separately provide the insertion and extraction portion 32ce to each of the plurality of component supply portions 50. As a result, the number of components can be suppressed from increasing as compared with the case where the insertion/extraction portion 32ce is provided separately for each of the plurality of component supply portions 50. Further, since both the holding portion 32ba and the insertion/extraction portion 32ce are movable in the arrangement direction, the component supply portion 50 at an arbitrary position can be inserted and extracted by moving the holding portion 32ba and the insertion/extraction portion 32ce in the arrangement direction. As a result, the transfer robot 30 capable of inserting and removing the component supply unit 50 at an arbitrary position while suppressing an increase in the number of components can be provided.

In the present embodiment, as described above, the transfer robot 30 further includes the positioning portion 31c provided in the travel portion 31 and positioning the travel portion 31 with respect to the component mounting device 13. As a result, the component supply unit 50 can be inserted and removed in a state where the transfer robot 30 is positioned with high accuracy with respect to the component mounting device 13 by the positioning unit 31c. As a result, the failure of inserting and extracting the component supply unit 50 due to the positional misalignment of the transfer robot 30 and the component mounting device 13 can be suppressed.

In the present embodiment, as described above, the component mounting device 13 is provided with a plurality of mounting positions at which the component supply unit 50 is mounted. The holding portion 32ba and the insertion/extraction portion 32ce are configured to move in the arrangement direction so as to correspond to a predetermined mounting position among the plurality of mounting positions. Thereby, the holding portion 32ba and the insertion/extraction portion 32ce can be moved in the arrangement direction so as to correspond to a predetermined mounting position among the plurality of mounting positions. As a result, the component supply unit 50 can be easily inserted into and removed from the predetermined mounting position.

In the present embodiment, as described above, the holding portion 32ba and the insertion and extraction portion 32ce are configured to be movable independently of each other in the arrangement direction. Thus, unlike the case where the holding portion 32ba and the insertion and extraction portion 32ce are integrally moved in the arrangement direction, the driving portion (driving motor 322 b) of the holding portion 32ba can be miniaturized in accordance with the need to move the insertion and extraction portion 32 ce.

In the present embodiment, as described above, the maximum movement distance D1 of the insertion and extraction portion 32ce is larger than the maximum movement distance D2 of the holding portion 32ba in the arrangement direction. This allows the insertion/extraction portion 32ce to be moved by a larger movement distance than the holding portion 32 ba. As a result, the component supply unit 50 can be inserted and removed by the insertion and removal unit 32ce, regardless of the position to which the holding unit 32ba is moved.

In the present embodiment, as described above, the inserted portion 50c into which the insertion/extraction portion 32ce is inserted is provided at the upper portion of the component supply portion 50. The insertion/extraction portion 32ce is configured to be liftable and lowerable, and is configured to: in a state of being inserted into the inserted portion 50c by being lowered, the component supply portion 50 held by the holding portion 32ba is pushed out and the component supply portion 50 held by the component mounting device 13 is pulled out by being moved in the insertion and removal direction. Thus, the component supply unit 50 held by the holding unit 32ba can be pushed out and the component supply unit 50 held by the component mounting device 13 can be pulled out easily and individually. Further, since the inserted portion 50c provided at the upper portion of the component supply portion 50 is pushed and pulled by the insertion and extraction portion 32ce, unlike the case where the back surface portion of the component supply portion 50 in the insertion and extraction direction is pushed and pulled by the insertion and extraction portion 32ce, it is not necessary to move the insertion and extraction portion 32ce to the rear side of the back surface portion of the component supply portion 50 in the insertion and extraction direction. As a result, the transfer robot 30 can be prevented from being enlarged in the insertion/removal direction, compared with a case where the insertion/removal portion 32ce is moved to the rear side of the rear surface portion in the insertion/removal direction of the component supply portion 50.

In the present embodiment, as described above, the component supply unit 50 is configured to slide on the holding unit 32 ba. The contact surface of the insertion/extraction portion 32ce with the inserted portion 50c is provided as a tapered surface for eliminating torque generated during sliding movement of the component supply portion 50. Thus, even if torque is generated during the sliding movement of the component supply unit 50, the generated torque can be eliminated (relaxed) by the tapered surface of the insertion/extraction unit 32 ce. As a result, the component supply unit 50 can be prevented from being locked (becoming unable to move) during the sliding movement due to the torque.

In the present embodiment, as described above, the contact surfaces include the first contact surface 326a of the insertion portion 32ce in the extraction direction of the inserted portion 50c and the second contact surface 326b of the insertion portion 32ce in the push-out direction of the inserted portion 50 c. The first contact surface 326a is provided as a tapered surface. The second contact surface 326b is provided as a vertical surface. Thus, even if torque is generated during sliding movement of the component supply portion 50 in the extraction direction, the first contact surface 326a of the insertion/extraction portion 32ce is provided as a tapered surface, so that the generated torque can be eliminated (relaxed) by the first contact surface 326a as a tapered surface. In addition, since the second contact surface 326b of the insertion/extraction portion 32ce is provided as a vertical surface during the sliding movement of the component supply portion 50 in the pushing-out direction, the force can be transmitted more reliably than in the case where the second contact surface 326b is provided as a tapered surface. This configuration is effective in the case where torque is easily generated when the component supply unit 50 is slid in the pull-out direction, and torque is not easily generated when the component supply unit 50 is slid in the push-out direction.

In the present embodiment, as described above, the transfer robot 30 further includes the locking portion 32bc for locking the position of the component supply portion 50 held by the holding portion 32ba by being inserted into the inserted portion 50 c. The lock portion 32bc is configured to be unlocked by the insertion and removal portion 32ce being lowered to be inserted into the inserted portion 50c of the component supply portion 50. Accordingly, the position of the component supply unit 50 held by the holding unit 32ba can be locked by the locking unit 32bc, and therefore, the component supply unit 50 can be prevented from falling off from the holding unit 32ba during the traveling of the transfer robot 30. In addition, since the lock is released by effectively utilizing the insertion operation of the insertion/extraction portion 32ce into the inserted portion 50c of the component supply portion 50, it is not necessary to perform an operation for releasing the lock independently. As a result, the operation for releasing the lock can be suppressed from being complicated.

In the present embodiment, as described above, the transfer robot 30 further includes the reading unit 32cg that is provided so as to be movable in the alignment direction integrally with the insertion/extraction unit 32ce and reads the identification information 50d of the component supply unit 50. In this way, the identification information 50d of the component supply unit 50 can be read by the reading unit 32cg at the time of insertion and removal, and therefore insertion and removal of the component supply unit 50 for each identification information 50d can be recorded. As a result, traceability (traceability) of the component supply unit 50 can be ensured.

(modification)

The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the claims rather than the description of the embodiments described above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

For example, in the above embodiment, the example in which the traveling section includes the autonomous traveling section and the carriage section towed by the autonomous traveling section has been shown, but the present invention is not limited to this. For example, the traveling unit may include an autonomous traveling unit integrally provided with the carriage unit.

In the above embodiment, the example in which 2 positioning portions are provided in the component mounting apparatus and the transfer robot has been shown, but the present invention is not limited to this. For example, 1 or 3 or more positioning portions may be provided in the component mounting apparatus and the transfer robot. In addition, the component mounting device and the transfer robot may not be provided with a positioning portion. In this case, a camera may be provided in the transfer robot, and the transfer robot may be positioned with respect to the component mounting device by image recognition of the camera.

In the above embodiment, the example in which the positioning portion of the component mounting apparatus is the positioning pin and the positioning portion of the transfer robot is the positioning hole has been shown, but the present invention is not limited to this. For example, the positioning portion of the component mounting device may be a positioning hole, and the positioning portion of the transfer robot may be a positioning pin.

In the above embodiment, the holding portion and the insertion portion are configured to be movable independently of each other in the arrangement direction, but the present invention is not limited to this. For example, the holding portion and the insertion portion may be integrally movable in the arrangement direction. In this case, the insertion and extraction portion may be movable in the alignment direction integrally with the holding portion, and may be movable in the alignment direction with respect to the holding portion.

In the above embodiment, the example in which the inserted portion into which the insertion/extraction portion is inserted is provided at the rear end of the upper portion of the component supply portion has been described, but the present invention is not limited to this. For example, an inserted portion into which the insertion/extraction portion is inserted may be provided at an arbitrary position on the upper portion of the component supply portion. In addition, an inserted portion into which the insertion/extraction portion is inserted may be provided at the back surface portion of the component supply portion.

In the above embodiment, the contact surface between the insertion portion and the insertion portion is provided as a tapered surface for eliminating the torque generated during the sliding movement of the component supply portion, but the present invention is not limited to this. For example, in the case where the component supply portion is not caught by the torque generated during the sliding movement of the component supply portion, the contact surface between the insertion portion and the inserted portion may not be provided as a tapered surface.

In the above embodiment, the example was described in which the first contact surface of the insertion portion with the inserted portion was provided as the tapered surface and the second contact surface of the insertion portion with the inserted portion was provided as the vertical surface, but the present invention is not limited to this. For example, both the first contact surface and the second contact surface may be provided as tapered surfaces.

In the above embodiment, the example in which the locking portion is configured to lock the position of the component supply portion by being inserted into the inserted portion into which the insertion/extraction portion is inserted has been described, but the present invention is not limited to this. For example, the locking portion may be configured to lock the position of the component supply portion by being inserted into an inserted portion provided separately from an inserted portion into which the insertion portion is inserted.

In the above embodiment, the example in which the reading portion is provided so as to be movable integrally with the insertion/extraction portion in the arrangement direction has been described, but the present invention is not limited to this. For example, the reading section may be provided so as to be movable in the arrangement direction independently of the insertion/removal section. The transfer robot may not be provided with a reading unit.

In the above embodiment, the example in which the identification information of the component supply section is a bar code and the reading section is a bar code reader was shown, but the present invention is not limited to this. For example, the identification information of the component supply unit may be an RFID (Radio Frequency IDentification: radio frequency identification) tag, and the reading unit may be an RFID reader.

Description of the reference numerals

13 parts mounting device

20 storage device

30 transfer robot

31 running section

31c positioning part

32ba holding part

32bc lock part

32ce plug part

32cg reading part

50 parts supply part

50c inserted portion

50d identification information

100 component mounting system

326a first contact surface (contact surface)

326b second contact surface (contact surface)

Maximum moving distance of D1 plug-in part

Maximum distance of movement of D2 holding part

S substrate.

Claims (11)

1. A transfer robot for transferring a component supply unit disposed in a component mounting device for mounting a component on a substrate, the transfer robot comprising:

a travel unit;

a holding unit provided on the travel unit, the holding unit being capable of holding the plurality of component supply units in an aligned state in an alignment direction and being movable in the alignment direction; and

And a plug-in portion that can be replenished to the component mounting device by pushing out the component supply portions held by the holding portion individually, and that can be recovered to the holding portion by pulling out the component supply portions held by the component mounting device individually, and that can be moved in the arrangement direction.

2. The transfer robot according to claim 1,

The vehicle further includes a positioning portion provided in the travel portion and positioning the travel portion with respect to the component mounting device.

3. The transfer robot according to claim 1 or 2,

a plurality of mounting positions for mounting the component supply part are provided in the component mounting device,

the holding portion and the insertion portion are configured to move in the arrangement direction so as to correspond to a predetermined mounting position among the plurality of mounting positions.

4. The transfer robot according to any one of claim 1 to 3,

the holding portion and the insertion portion are configured to be movable independently of each other in the arrangement direction.

5. The transfer robot according to claim 4,

in the arrangement direction, a maximum moving distance of the insertion and extraction portion is larger than a maximum moving distance of the holding portion.

6. The transfer robot according to any one of claim 1 to 5,

an inserted portion into which the insertion/extraction portion is inserted is provided at an upper portion of the component supply portion,

the plug part can be lifted and lowered, and is composed of: in a state of being inserted into the inserted portion by lowering, the pushing-out of the component supply portion held by the holding portion and the pulling-out of the component supply portion held by the component mounting device are performed by moving in the insertion-and-extraction direction.

7. The transfer robot according to claim 6,

the component supply part is configured to slide on the holding part,

the contact surface of the insertion/extraction portion with the portion to be inserted is provided as a tapered surface for eliminating torque generated during sliding movement of the component supply portion.

8. The transfer robot according to claim 7,

the contact surface includes a first contact surface of the insertion/extraction portion in an extraction direction in contact with the inserted portion and a second contact surface of the insertion/extraction portion in an ejection direction in contact with the inserted portion,

the first contact surface is provided as the tapered surface,

the second contact surface is provided as a vertical surface.

9. The transfer robot according to any one of claim 6 to 8,

further comprising a locking part for locking the position of the component supply part held by the holding part by inserting the component supply part into the inserted part,

the locking portion is configured to be unlocked by being inserted into the inserted portion of the component supply portion by the insertion and extraction portion being lowered.

10. The transfer robot according to any one of claim 1 to 9,

the component supplying device further includes a reading unit that is provided so as to be movable in the arrangement direction integrally with the insertion/removal unit and reads identification information of the component supplying unit.

11. A component mounting system, comprising:

a component mounting device for mounting a component on a substrate;

a storage device for storing the component supply part configured by the component mounting device; and

A transfer robot for transferring the component supply unit between the component mounting device and the storage device,

the transfer robot includes:

a travel unit;

a holding unit provided on the travel unit, the holding unit being capable of holding the plurality of component supply units in an aligned state in an alignment direction and being movable in the alignment direction; and

And a plug-in portion that can be replenished to the component mounting device by pushing out the component supply portions held by the holding portion individually, and that can be recovered to the holding portion by pulling out the component supply portions held by the component mounting device individually, and that can be moved in the arrangement direction.