CN118318512A

CN118318512A - Work robot and component mounting system

Info

Publication number: CN118318512A
Application number: CN202180103761.8A
Authority: CN
Inventors: 柳田勉; 冈本义德; 小林祐介; 藤井尚也; 浦田哲
Original assignee: Yamaha Motor Co Ltd
Current assignee: Yamaha Motor Co Ltd
Priority date: 2021-12-01
Filing date: 2021-12-01
Publication date: 2024-07-09
Also published as: WO2023100298A1; JPWO2023100298A1

Abstract

The work robot includes: a work unit that performs a specified work on a production apparatus for producing the component mounting substrate; and an unmanned conveyance vehicle for conveying the operation unit. The working robot further includes a connection mechanism capable of switching between a connection state in which the working unit can be moved together with the unmanned vehicle and a non-connection state in which the unmanned vehicle is allowed to travel alone away from the working unit. The operation unit can continue the specified operation in execution even in a state that no automated guided vehicle leaves the operation unit during the execution of the specified operation on the production device.

Description

Work robot and component mounting system

Technical Field

The present invention relates to a work robot and a component mounting system provided in a component mounting system for producing a component mounting board on which components are mounted (mounted) on a board such as a printed wiring board.

Background

A production line for producing an element mounting board on which an element is mounted (mounted) on a board such as a printed wiring board is known. The production line is provided with a plurality of component mounting devices. The substrate is carried along the production line, and a process of mounting the component onto the substrate is performed in each component mounting apparatus. The component mounting device includes a mounting head, a component supply device such as a tape feeder, and the like, and the mounting head suctions and holds the component supplied by the component supply device and mounts the component on the substrate.

In this production line, it is necessary to supplement components consumed in the component mounting apparatus and/or to change the component supply apparatus with the type switching of the production substrate. In the past, this work was performed by an operator, but in recent years, there have been increasing cases where this work was performed by an unmanned work robot.

For example, patent document 1 discloses an example of a component mounting system in which a component is replenished by a work robot (replenishing device). The working robot of patent document 1 has a structure in which a working unit (replenishing unit) is mounted on an unmanned conveyance vehicle so as to be integrated therewith. The working unit includes a housing portion capable of housing a plurality of tape feeders and a feeding mechanism for taking out and putting in the tape feeders. As is well known, a tape feeder is one of component supply devices provided in a component mounting apparatus. The work robot moves to the position of the component mounting device and stops. Then, the feeding mechanism is operated to perform replacement work of the tape feeder in which the component mounted on the component mounting device has been used up and the replenishment tape feeder accommodated in the accommodating portion. That is, the work robot supplements the component mounting device with components by replacing the tape feeder itself.

In the above-described conventional work robot, the automated guided vehicle and the replenishing unit are integrally formed, and the automated guided vehicle stays in place during the work. Therefore, during this period, the automated guided vehicle cannot be used for other purposes, and the automated guided vehicle is in an idle state. Depending on the work content of the work unit, the frequency of use of the work robot may be extremely low, and in this case, the unmanned conveyance vehicle will be idle for a long time. Therefore, the unmanned vehicle cannot be said to be effectively utilized.

Prior art literature

Patent literature

Patent document 1: japanese patent publication No. 6074425

Disclosure of Invention

The present invention relates to a work robot provided in a component mounting system for producing a component mounting board, and an object of the present invention is to provide a technique capable of more effectively using an unmanned conveyance vehicle in the work robot.

A work robot according to an aspect of the present invention includes: a work unit that performs a specified work on a production apparatus for producing the component mounting substrate; and an unmanned conveyance vehicle that conveys the operation unit, the operation robot further including: a connection mechanism that is switchable between a connection state in which the working unit and the automated guided vehicle can be moved together, and a disconnection state in which the automated guided vehicle is allowed to travel alone away from the working unit, wherein the working unit is configured to: the specified operation can be continued even in a state where the automated guided vehicle is away from the operation unit during execution of the specified operation on the production apparatus.

Drawings

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

Fig. 2 is a plan view of the component mounting device provided in the component mounting system.

Fig. 3 is a side view of the component mounting apparatus and the work robot.

Fig. 4 is a perspective view of the work robot as seen from the rear.

Fig. 5 is a rear view of the unit base of the work robot (arrow a view of fig. 3 and 4).

Fig. 6 is a side view of the unmanned vehicle provided in the working robot.

Fig. 7 is a side view of the work robot and the component mounting apparatus in the feeder changing work.

Fig. 8 is a block diagram showing a control system of the component mounting system.

Fig. 9 is a block diagram showing an example of the operation of the work robot of the component mounting system.

Fig. 10 is a block diagram showing an example of the operation of the work robot of the component mounting system.

Fig. 11 is a block diagram showing an example of the operation of the work robot.

Fig. 12 is a block diagram showing an example of the operation of the work robot.

Fig. 13 is a block diagram showing an example of the operation of the work robot.

Fig. 14 is a block diagram showing an example of the operation of the work robot.

Fig. 15 is a side view of a main part of the working robot according to the second embodiment (a state before the unmanned carrier vehicle is connected).

Fig. 16 is a plan view showing the connection mechanism.

Fig. 17 is a plan view of the connection mechanism illustrating a switching operation between a connection state and a disconnection state by the connection mechanism.

Fig. 18 is a side view of a main part of the working robot (a state after the unmanned vehicle is connected).

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[ Constitution of component mounting System ]

Fig. 1 is a block diagram showing a component mounting system 100 according to the present invention. The component mounting system 100 is a system for producing a component mounting board in which electronic components (hereinafter referred to as "components") are mounted on a board P such as a printed wiring board. The component mounting system 100 includes a first production line 101, a second production line 102, a replenishing portion 6, a recovering portion 7, a charging station 8, a management device 9, and a work robot 20.

The first production line 101 and the second production line 102 are disposed in the production area Ar1, and the replenishing unit 6, the collecting unit 7, the charging station 8, and the management device 9 are disposed in the preparation area Ar2. The production area Ar1 is an area for producing the component mounting board, and the preparation area Ar2 is an area for preparing consumables such as mounting components used in production of the component mounting board by an operator or the like and equipment to be replaced with a change in the production type.

The first production line 101 includes a printing device 1, a printing inspection device 2, a component mounting device 3, an appearance inspection device 4, and a reflow device 5, and these devices 1 to 5 are connected in this order in a row in the X direction. Although some illustration is omitted, in this example, the plurality of component mounting devices 3 are arranged continuously between the printing inspection device 2 and the appearance inspection device 4.

The printing apparatus 1 performs a process of printing solder paste on the component mounting portion on the substrate P, and the print inspection apparatus 2 performs a process of inspecting the print state of the solder paste printed on the substrate P. The plurality of component mounting devices 3 each perform a process of mounting (mounting) a component on a specified mounting position of the substrate P printed with solder paste, and the appearance inspection device 4 performs a process of inspecting a mounting state of the component mounted on the substrate P. In addition, the reflow apparatus 5 performs a process of melting solder by heating the substrate P, thereby bonding the element to the substrate P.

The second production line 102 has the same basic constitution as the first production line 101, and is disposed adjacent to the first production line 101. In each of the first production line 101 and the second production line 102, the above-described processes are performed in the printing apparatus 1, the printing inspection apparatus 2, the component mounting apparatus 3, the visual inspection apparatus 4, and the reflow apparatus 5 while the substrate P is conveyed in the X direction. Thereby, the element mounting substrate is produced.

The replenishment unit 6 is a place where the replenishment elements and equipment prepared by the operator stand by, and the recovery unit 7 is a place where the used equipment or the like recovered from the production lines 101 and 102 is returned.

The work robot 20 is a self-propelled robot that moves along the production lines 101 and 102 between the component mounting apparatus 3 and the storage apparatus 6. The work robot 20 has a function of transporting the component for replenishment and/or the equipment for replacement from the replenishment part 6 to the component mounting device 3 and delivering the component to the component mounting device 3, and collecting the used equipment and the like from the component mounting device 3 and returning the used equipment to the collection part 7.

The charging station 8 is a charging device for an unmanned vehicle 20V of the work robot 20, which will be described later. The unmanned vehicle 20V having a battery capacity equal to or less than a predetermined amount is charged by moving to the charging station 8.

The management device 9 is, for example, a general-purpose computer that is communicably connected to each of the devices 1 to 5 of the production lines 101 and 102 and the work robot 20 (the unmanned vehicle 20V described later). The management device 9 controls the respective devices 1 to 5 of the production lines 101, 102 and the work robot 20 based on the production schedule, thereby overall managing the production of the component mounting substrates of the component mounting system 100.

[ Constitution of component mounting device 3 ]

Fig. 2 is a plan view of the component mounting device 3 included in the component mounting system 100, and fig. 3 is a side view of the component mounting device 3 and the work robot 20. In fig. 2 and 3, the component mounting apparatus 3 and the work robot 20 are schematically shown. The plurality of component mounting devices 3 included in the component mounting system 100 have the same basic configuration.

The component mounting apparatus 3 includes a base 10, a conveyor 11, a component supply area 12, a head unit 15, and a photographing section 17. The base 10 is a mounting base for various devices provided in the component mounting apparatus 3. The conveyor 11 is a conveying path of the substrate P extending in the X direction on the base 10, and includes a pair of belt conveyors. The conveyor 11 carries the substrate P into a predetermined work position from outside the machine, and carries the substrate P out of the machine from the mounting work position after the mounting work. The position of the substrate P shown in fig. 2 is a mounting operation position.

The component supply areas 12 are areas configured to supply component supply devices for mounting components, and are provided on both sides of the conveyor 11 in the Y direction, respectively. In each component supply area 12, a plurality of tape feeders 14 are provided along the conveyor 11. The tape feeder 14 is a component supply device of a type that supplies components while feeding out a tape in which components (small surface mount components) are housed at predetermined intervals.

The tape feeder 14 in this example is a so-called cassette type tape feeder, that is: in the box-shaped case flattened in the X direction, a reel around which the tape is wound, a mechanism for feeding out the tape from the reel, and the like are housed. The tape feeder 14 is supported on a feeder base 13 as a support base thereof. A plurality of grooves (referred to as slots 13 a) extending parallel to each other in the Y direction and aligned in the X direction are formed on the upper surface of the feeder base 13. Each tape feeder 14 is supported by the feeder base 13 in a state where its lower end portion is inserted into the slot 13 a. Further, each tape feeder 14 can be attached to and detached from (inserted into) the feeder base 13 by moving in the Y direction along the slot 13 a.

The head unit 15 is provided so as to be movable in the X direction and the Y direction within a predetermined area by a head unit driving mechanism 16. The head unit 15 includes a plurality of mounting heads 15a. By supplying negative pressure for component suction to each mounting head 15a and cutting off the supply, suction holding and release of components are performed for each mounting head 15a.

The imaging unit 17 images the components sucked and held by the respective mounting heads 15a of the head unit 15 from the lower side thereof to identify the suction and holding state of the components. The imaging unit 17 includes a camera and an illumination device. The imaging units 17 are disposed on both sides of the conveyor 11 in the Y direction on the base 10.

In the component mounting apparatus 3, the head unit 15 alternately performs a component suction process of sucking out a component from the component supply area 12 with the mounting head 15a and a mounting process of conveying the component onto the substrate P and mounting (mounting) the component while moving between the component supply area 12 and the substrate P arranged at the work position. By repeating these processes, a prescribed number of components are mounted on the substrate P.

As shown in fig. 3, positioning projections 18 for positioning the work robot 20 at a work position (feeder changing work position) for performing the changing work of the tape feeder 14 are provided on the Y-direction outer side surfaces of the feeder base 13 in the respective component supply regions 12. The positioning convex portions 18 are provided at least 2 at intervals in the Y direction. Further, power supply connectors 19 for supplying power to the work robot 20 are provided on the Y-direction outer surfaces of the base 10. The power supply connector 19 is disposed near and below the positioning boss 18. In addition, in the case where a plurality of feeder changing operation positions are set, at least 2 positioning projections 18 and 1 power supply connector 19 are provided for 1 feeder changing operation position.

[ Construction of work robot 20 (first embodiment) ]

As described above, the work robot 20 performs the work of transporting the component for replenishment and/or the equipment for replacement from the replenishment part 6 to the component mounting device 3 and delivering the component to the component mounting device 3, and collecting the used equipment and the like from the component mounting device 3 and transporting the used equipment to the collection part 7. In the following description, the work robot 20 that performs the work of replenishing the components to the component mounting device 3 (production device) will be described.

As described above, the tape feeder 14 is a box-type tape feeder, and when the tape feeder 14 runs out of components, the components are substantially replenished by replacing (replacing) the tape feeder 14. Therefore, the work robot 20 has the following structure that can exchange the tape feeder 14 with the component mounting device 3.

Fig. 4 is a perspective view of the work robot 20 from behind, and fig. 5 is a rear view (arrow view of fig. 3 and 4) showing the unit base 30 of the work robot 20. Fig. 6 is a side view of the unmanned vehicle 20V provided in the work robot 20. As shown by the symbol in fig. 4, the work robot 20 has a rear side and a front side opposite to the rear side where the opening 35a described later is provided in the unit base 30. In fig. 3 shown before, the Y2 side is "front", and the Y1 side is "rear".

As shown in fig. 3 and 4, the work robot 20 includes: an operation unit 20U for performing replacement operation (feeder replacement operation) of the tape feeder 14 with respect to the component mounting device 3; and an unmanned conveyance vehicle 20V that moves the working unit 20U.

The job unit 20U includes: a job execution unit 40 for executing a feeder replacement job; and a unit base 30 which is disposed immediately below the work execution unit 40 and supports the work execution unit 40 so as to be movable on the floor surface. With this configuration, work unit 20U can move along the floor surface while standing on the floor surface.

The unit base 30 is a hollow box-shaped structure body which is opened downward, and includes an upper surface portion 32 which is rectangular in a plan view and side wall portions 34 which depend from four sides thereof, respectively. At four corners of the lower end of the unit base 30, traveling wheels 36 are provided. The road wheels 36 are driven wheels (free wheels) that rotate by friction with the floor surface along with the movement of the working unit 20U, and are, for example, casters.

The inside of the unit base 30 is a hollow conveyance vehicle housing part 35, and the automated guided vehicle 20V is housed in the conveyance vehicle housing part 35. An opening 35a is formed in the side wall 34 on the rear side (Y1 side in fig. 3) of the unit base 30. The automated guided vehicle 20V can enter and exit the vehicle housing section 35 through the opening section 35a by traveling.

As shown in fig. 3, a positioning concave portion 381 corresponding to the positioning convex portion 18 of the component mounting device 3 is provided in the side wall portion 34 on the front side of the unit base portion 30. Further, a power receiving connector 391 capable of fitting with the power feeding connector 19 of the component mounting apparatus 3 is provided. When the feeder changing operation is performed, the positioning convex portion 18 is inserted into the positioning concave portion 381, and the working robot 20 is positioned at the feeder changing operation position. Further, the power supply connector 19 is fitted to the power receiving connector 391, whereby the working power is supplied from the component mounting apparatus 3 to the working unit 20U.

The positioning concave portion 381 is provided with a clamping mechanism 37, and if the positioning convex portion 18 is inserted into the positioning concave portion 381, the positioning convex portion 18 is clamped by the clamping mechanism 37. Thus, the working robot 20 (working unit 20U) is fixed to the component mounting device 3 while being positioned at the feeder changing operation position. The clamping mechanism 37 may be configured other than the clamping positioning protrusion 18, and may be provided on the component mounting device 3 side as long as the working robot 20 (the working unit 20U) can be fixed to the component mounting device 3.

The work execution unit 40 is mounted on the upper surface 32 of the unit base 30 and fixed to the unit base 30. The work execution unit 40 has a rectangular parallelepiped case 42 having an outer contour. The front surface of the case 42 is open, and inside thereof is a feeder housing portion 43 that houses the replacement tape feeder 14.

The feeder housing portion 43 is provided with: a movable table 44 capable of supporting a plurality of tape feeders 14; a slide mechanism for sliding the movable table 44 in the left-right direction (X direction in fig. 3); a replacement head 45 for replacing (inserting) the tape feeder 14 with the component mounting device 3; and a replacement head driving mechanism 46 for moving the replacement head 45 in the front-rear direction (Y direction in fig. 3) and the left-right direction.

A plurality of grooves (slots 44 a) extending parallel to each other in the front-rear direction and aligned in the left-right direction are formed on the upper surface of the movable table 44. Each tape feeder 14 is supported by the movable table 44 in a state of being aligned adjacent to each other in the left-right direction by inserting its lower end portion into the slot 44 a. The height of the slot inner bottom surface (feeder supporting surface) of the movable table 44 is set to be equal to the slot inner bottom surface (feeder supporting surface) of the feeder base 13 of the component mounting device 3.

The replacement head 45 is provided with a hand 45a capable of locking the tape feeder 14. By the operation of the replacement head 45, the tape feeder 14 is replaced with the component mounting device 3. The feeder changing operation by the work robot 20 will be described below.

Fig. 7 is a side view of the work robot 20 and the component mounting device 3 during the feeder changing operation. At the time of the feeder changing operation, as shown in fig. 3 and 7, the working robot 20 is disposed on the component mounting device 3 so that the front surface of the working robot 20 faces the component supply area 12 from the Y-direction outside (Y1 side in fig. 3 and 7). That is, the work robot 20 is disposed at the feeder changing work position. At this time, as described above, the work robot 20 (work unit 20U) is positioned at the feeder changing work position by the positioning convex portion 18 and the positioning concave portion 381, and is fixed to the component mounting device 3 by the clamping mechanism 37. Further, by fitting the power supply connector 19 and the power receiving connector 391, power for the feeder replacement operation, that is, power for driving the replacement head 45 and the movable table 44 of the operation executing unit 40 is supplied from the component mounting apparatus 3. In fig. 7, the positioning convex portion 18, the positioning concave portion 381, the power supply connector 19, and the power receiving connector 391 are omitted.

In the feeder changing operation, first, the movable table 44 and the changing head 45 are arranged so that the empty slot 44a and the hand 45a of the movable table 44 correspond to the position of the component-depleted tape feeder 14 (appropriately referred to as the recovery target feeder 14) in the component supply area 12 (component mounting device 3). The empty slot 44a is a slot 44a into which the tape feeder 14 is not inserted.

Next, the exchange head 45 advances (moves toward the Y2 side), and the hand 45a engages the non-return receiving target feeder 14, and then retreats. Thereby, the recovery target feeders 14 are pulled from the component supply area 12 of the component mounting apparatus 3 into the feeder housing 43 of the job execution section 40. At this time, the recovery target feeder 14 moves along the slot 13a of the feeder base 13 and is directly inserted into the slot 44a of the movable table 44.

When the recovery of the tape feeder 14 is completed, the movable table 44 and the replacement head 45 are disposed so that the replacement tape feeder 14 (appropriately referred to as the replacement feeder 14) and the hand 45a correspond to the empty slot 13a of the feeder base 13 (for example, the slot 13a into which the recovery target feeder 14 is originally inserted).

Then, the replacement head 45 is advanced (moved to the Y2 side) in a state where the replacement feeder 14 is locked by the hand 45a, and is retracted after releasing the locked state. Thereby, the replacement feeder 14 is provided in the component supply area 12. In this case, the replacement feeder 14 moves along the slot 44a of the movable table 44 and is directly inserted into the slot 13a of the feeder base 13. By repeating the above-described feeder replacement operation, for example, the number of times corresponding to the number of the recovery target feeders 14 is performed, the component mounting apparatus 3 is substantially replenished with components.

The automated guided vehicle 20V is, for example, an AGV (Automatic Guided Vehicle, automated guided vehicle). As shown in fig. 3 to 6, the automated guided vehicle 20V includes a substantially rectangular conveyance vehicle body 50 having a driving wheel 52 and a driven wheel (freewheel) 53 as road wheels in a plan view. The longitudinal direction (left-right direction in fig. 6) of the conveyance vehicle main body 50 is the front-rear direction of the automated guided vehicle 20V, and the short-side direction is the width direction of the conveyance robot. The conveyance vehicle body 50 is mounted with a travel motor 521 (fig. 8) for driving the drive wheel 52, a battery, a connection mechanism 55, a travel sensor 58 (fig. 8), a conveyance vehicle control device 200, and the like.

The driving wheels 52 are provided at the front-rear direction central portion and the width direction both side portions of the conveyance vehicle main body 50. On the other hand, the driven wheels 53 are provided at the four corners of the lower surface of the conveyance vehicle body 50. The 2 driving wheels 52 are driven by the travel motor 521, respectively. By the driving force of the driving wheel 52, the automated guided vehicle 20V runs along the floor surface. In this case, by individually controlling the rotational direction and rotational speed of each driving wheel 52, the automated guided vehicle 20V can travel in any direction and can swivel in place. On the other hand, the driven wheel 53 is, for example, a caster wheel, and rotates by friction with the floor surface in accordance with the movement of the automated guided vehicle 20V. Further, as the driving wheel 52, for example, a mecanum wheel (registered trademark) may be applied, and as the driven wheel 53, an omni wheel (registered trademark) may be applied.

The automated guided vehicle 20V is detachably connected to the working unit 20U, and the state (connected state) and disconnected state of the automated guided vehicle 20V connected to the working unit 20U are switched by the operation of the connection mechanism 55. The work unit 20U is pulled by the automated guided vehicle 20V in a state where the automated guided vehicle 20V is connected to the work unit 20U. That is, the unmanned vehicle 20V travels, and the working unit 20U moves together with the unmanned vehicle 20V. On the other hand, in the disconnected state, the automated guided vehicle 20V is allowed to separate from the work unit 20U and travel alone.

The connection mechanism 55 is provided at the upper center of the conveyance body 50. As shown in fig. 5 and 6, the connection mechanism 55 includes a connection head 56 and an electric cylinder 57 for lifting (moving up and down) the connection head. The connection head 56 is a U-shaped member having a pair of connection pins 56a extending parallel to each other in the up-down direction. If the connection head 56 is raised by the operation of the electric cylinder 57, each connection pin 56a is inserted into a pair of connection holes 32a formed in the upper surface portion 32 (top portion of the conveyance vehicle housing portion 35) of the unit base 30. Thereby, the working unit 20U and the automated guided vehicle 20V are connected. In this state, the unmanned vehicle 20V travels, and the working unit 20U moves integrally with the unmanned vehicle 20V.

Further, the connection head 56 cannot rotate about the vertical axis, and as described above, each connection pin 56a is inserted into the pair of connection holes 32a, thereby suppressing the unmanned conveyance vehicle 20V from causing rotational displacement with respect to the unit base 30 when changing the traveling direction or the like. That is, the connection mechanism 55 includes a rotation preventing mechanism that restricts the unmanned conveyance vehicle 20V from rotating relative to the unit base 30 in the direction along the floor surface.

The automated guided vehicle 20V further includes a travel sensor 58 (fig. 8). The travel sensor 58 is, for example, a LiDAR (Light Detection AND RANGING), and the travel of the automated guided vehicle 20V is controlled by detecting an object and/or an obstacle by the travel sensor 58. Further, a mark, not shown, as the target object is provided inside the carrier housing portion 35 of the unit base 30, and when the unmanned carrier 20V is connected to the working unit 20U, the unmanned carrier 20V is arranged such that the connection head 56 corresponds to the connection hole 32a based on detection of the mark by the travel sensor 58.

[ Control System of component mounting System 100 ]

Fig. 8 is a block diagram showing a control system of the component mounting system 100, and mainly shows a control system of the unmanned conveyance vehicle 20V of the management apparatus 9 and the work robot 20.

The automated guided vehicle 20V includes the vehicle control device 200 that generally controls the operation thereof. The vehicle control device 200 is electrically connected to the travel sensor 58, the travel motor 521, the electric cylinder 57, and the like, and also connected to the transmitting/receiving unit 210 and the battery sensor 211. The transmitting/receiving unit 210 is an interface for communicating various information with the management device 9, and communicates information via a wireless communication line. The battery sensor 211 is a sensor that detects the remaining amount of the battery.

The vehicle control device 200 includes CPU, ROM, RAM and peripheral devices, and includes, as its functional components, a travel control unit 201, a connection switching control unit 202, a battery management unit 203, a data storage unit 204, and the like.

The travel control unit 201 controls the travel operation of the automated guided vehicle 20V by controlling the driving of the travel motor 521. The travel control unit 201 travels the automated guided vehicle 20V based on the job command acquired from the management device 9 by the transmitting/receiving unit 210. The main operation command is a travel command for moving the work robot 20 (the operation unit 20U) at the time of the feeder changing operation, but the operation command includes a charging command for charging the unmanned conveyance vehicle 20V itself, and the like.

The connection switching control unit 202 controls the electric cylinder 57 to connect and disconnect the unmanned vehicle 20V to and from the working unit 20U.

The battery management unit 203 updates the remaining battery amount detected by the recording battery sensor 211, and transmits the remaining battery amount data to the management device 9 via the transmission/reception unit 210, for example, every predetermined period.

The data storage unit 204 stores various information necessary for the travel of the automated guided vehicle 20V. For example, the data storage unit 204 stores: map information of the positions and the travel routes of the respective devices 1 to 5, the replenishing unit 6, the collecting unit 7, and the charging station 8 including the production lines 101 and 102, and the travel control unit 201 controls the travel of the automated guided vehicle 20V based on the map information.

The management device 9 includes a management control device 300 and a transmitting/receiving unit 310. The transmitting/receiving unit 310 is an interface for communicating various information with each of the devices 1 to 5 of the production lines 101 and 102 and the automated guided vehicle 20V.

The management control unit 300 transmits a work instruction to the automated guided vehicle 20V (work robot 20) based on information input from the respective devices 1 to 5 and the automated guided vehicle 20V in the production lines 101 and 102. In this example, if the component mounting device 3 reaches the component replenishment time, the management control unit 300 transmits a work instruction to the automated guided vehicle 20V, and moves the work robot 20 (the work unit 20U) to the position of the target component mounting device 3 to perform the feeder changing operation. The management control unit 300 also transmits a charge command to the automated guided vehicle 20V when the remaining battery level is equal to or less than a predetermined level based on the remaining battery level data input from the automated guided vehicle 20V.

[ Operation of working robot 20 (unmanned vehicle 20V) ]

Next, an example of the operation of the automated guided vehicle 20V under the control of the management device 9 (management control unit 300) will be described with reference to fig. 9 to 14. In the figure, only one production line (first production line 101) is shown for convenience of explanation.

When the component mounting device 3 reaches the component replenishment time, a work order is sent from the management device 9 to the automated guided vehicle 20V. That is, in order to perform the feeder changing operation, a command for moving the work robot 20 (the work unit 20U) is transmitted to the automated guided vehicle 20V.

By inputting the work order, the work robot 20 first moves from the predetermined standby position to the replenishing portion 6, and receives the replacement tape feeder 14 from the replenishing portion 6. Then, the work robot 20 moves to the component mounting device 3 to be replenished, and starts the feeder changing operation at a predetermined work position (see fig. 7).

Fig. 9 shows a state in which 2 working robots 20 (referred to as a first working robot 20A and a second working robot 20B) are performing feeder changing operations for different component mounting apparatuses 3. The 2 work robots 20A and 20B have the same structure and are provided with a common connection mechanism 55.

Here, it is assumed that the battery remaining amount of the automated guided vehicle 20V (referred to as the first automated guided vehicle 20 Va) of the first work robot 20A that starts the component replenishment work first reaches a predetermined level or less and reaches the charging time. In this case, the management device 9 transmits a charging instruction to the first automated guided vehicle 20 Va. The first automated guided vehicle 20Va that has received the charging instruction releases the connection state with the work unit 20U (referred to as the first work unit 20 Ua). Specifically, the electric cylinder 57 is operated to lower the connection head 56 (the state shown by the solid line in fig. 5).

If the connection with the first working unit 20Ua is released, the first automated guided vehicle 20Va moves by itself and is separated from the first working unit 20Ua. Then, as shown in fig. 10, it alone moves to the charging station 8, and starts charging. In this case, the first automated guided vehicle 20Va starts charging itself by bringing a power receiving terminal, not shown, into contact with a power feeding terminal, not shown, of the charging station 8.

The first operation unit 20Ua from which the first automated guided vehicle 20Va is separated is left at the feeder changing operation position, and the feeder changing operation is continued. As described above, the first working unit 20Ua is configured to be capable of standing on the floor surface, and is fixed to the component mounting device 3 by the clamping mechanism 37 in a state of being positioned at the feeder changing operation position. Further, the power supply is received from the component mounting device 3. Therefore, the feeder changing operation can be continued without hindrance.

When the first work unit 20Ua (first work robot 20A) completes the feeder changing operation and the second work robot 20B is performing the feeder changing operation before the charging of the first unmanned carrier vehicle 20Va is completed, a command requesting the first work unit 20Ua to be moved to the recovery unit 7 is sent from the management device 9 to the unmanned carrier vehicle 20V (referred to as a second unmanned carrier vehicle 20 Vb) of the second work robot 20B.

Based on the work instruction, the second automated guided vehicle 20Vb releases the connection state with the work unit 20U (referred to as the second work unit 20 Ub) and is separated from the second work unit 20Ub by self-walking. Then, as shown in fig. 11, the first work unit 20Ua is individually moved to the position thereof, and then connected to the first work unit 20Ua, and as shown in fig. 12, the first work unit 20Ua is moved to the recovery unit 7.

The second operation unit 20Ub from which the second automated guided vehicle 20Va is separated is left at the feeder changing position therebetween, and the feeder changing operation is continued. In this case, since the second working unit 20Ub is also positioned and fixed to the component mounting device 3 and receives the power supply from the component mounting device 3, the feeder changing operation can be continued without any trouble.

Then, if the second work unit 20Ub completes the feeder changing operation while the recovered tape feeder 14 is returned from the first work unit 20Ua to the recovery unit 7, a command requesting the second work unit 20Ub to be moved to the recovery unit 7 is sent from the management device 9 to the second automated guided vehicle 20 Vb. Based on this instruction, the second automated guided vehicle 20Vb releases the connection state with the first working unit 20Ua as shown in fig. 13, and disengages from the first working unit 20Ua. Then, the second working unit 20Ub is moved to the original position and connected to the second working unit 20Ub, and then, as shown in fig. 14, the second working unit 20Ub is moved to the recovery unit 7.

[ Effect of the invention ]

As described above, in the work robot 20 used in the component mounting system 100, the work unit 20U and the automated guided vehicle 20V can be switched between the connected state and the disconnected state, and in the disconnected state, the automated guided vehicle 20V is allowed to move independently from the work unit 20U. The operation unit 20U can continue the feeder changing operation even when the automated guided vehicle 20V is detached. In the component mounting system 100, as described with reference to fig. 9 to 14, the automated guided vehicle 20V (second automated guided vehicle 20 Vb) of the work robot 20 is used for movement of the work unit 20U (first work unit 20 Ua) of the other work robot 20 (first work robot 20A) as needed during the replacement work of the feeder by the work robot 20 (second work robot 20A). Therefore, the unmanned conveyance vehicle 20V is prevented from being left unused during the feeder changing operation by the work robot 20, and the unmanned conveyance vehicle 20V is effectively utilized.

Further, according to the component mounting system 100, as described above, the unmanned carrier vehicle 20V (the second unmanned carrier vehicle 20 Va) of the work robot 20 is moved to the charging station 8 to be charged during the feeder changing work of the work robot 20 (the first work robot 20A). Therefore, there is also an advantage in that the work unit 20U can be effectively utilized. That is, in the conventional component mounting system, the working unit and the automated guided vehicle in the working robot are integrally configured, and when the working robot needs to be moved to the charging station and charged, the working unit cannot be operated during this period. Therefore, the operation unit is idle. However, in the component mounting system 100, the charging operation can be performed by moving only the automated guided vehicle 20V to the charging station 8 while continuing the feeder changing operation of the operation unit 20U. Therefore, the working unit 20U is not left unused, and accordingly, the working unit 20U can be effectively utilized.

In the example shown in fig. 9 to 14, each of the 2 work robots 20 (20A, 20B) includes an automated guided vehicle 20V (20 Va, 20 Vb), and only when the automated guided vehicle 20V of one of the work robots 20 is charged, the automated guided vehicle 20V of the other work robot 20 moves the work unit 20U of the one work robot 20. However, the 2 work robots 20 may be completely shared by 1 unmanned vehicle 20V. That is, in this case, after one of the working robots 20 is moved to the position of the component mounting device 3 and the feeder changing operation is started, the automated guided vehicle 20V is separated from the working unit 20U of the working robot 20. Then, the unmanned vehicle 20V is connected to another working unit 20U to construct a working robot 20, and the working robot 20 is moved to the position of the other component mounting device 3 to perform the feeder changing operation.

According to the configuration of the component mounting system 100, the feeder changing operation of the component mounting device 3 can be performed using the unmanned conveyance vehicles 20V, the number of which is smaller than the number of the operation units 20U. In this case, as described above, in addition to sharing 1 automated guided vehicle 20V with 2 work robots 20, 1 or more automated guided vehicles 20V may be shared with 3 or more work robots 20.

In the work robot 20, the work unit 20U is configured to: can move along the floor surface in a state of standing on the floor surface. That is, the automated guided vehicle 20V is configured to: no load is applied from the work unit 20U. Therefore, the driving force of the automated guided vehicle 20V required for moving the work robot 20 is suppressed as compared with a conventional work robot in which the work unit is integrally mounted on the automated guided vehicle. That is, the work robot 20 can be driven using the low-output driving motor 521, which contributes to making the unmanned conveyance vehicle 20V inexpensive and reducing the running cost by saving electricity. In addition, the battery mounted on the automated guided vehicle 20V can be miniaturized, and in this case, there is an advantage in that the battery charging time of the automated guided vehicle 20V can be shortened.

Further, the job unit 20U includes: a work execution unit 40 for performing a feeder replacement work; and a unit base 30 disposed immediately below the work execution unit 40 and supporting the work execution unit 40, wherein the automated guided vehicle 20V is accommodated in a hollow guided vehicle accommodating portion 35 provided in the unit base 30 and connected to the unit base 30. That is, the automated guided vehicle 20V is connected to the submerged work unit 20U in a state directly below the work unit 20U. Therefore, the space occupied by the work robot 20 is smaller (the planar area (footprint) occupied by the object is smaller) than in a configuration in which the unmanned conveyance vehicle is connected to the work unit at the outer peripheral portion of the work unit, and there is an advantage in that the travel space and the work space can be reduced.

The connection mechanism 55 for connecting the automated guided vehicle 20V and the unit base 30 (work unit 20U) includes a rotation preventing mechanism for restricting the relative rotation of the work robot 20 with respect to the unit base 30. Therefore, the traveling direction of the work unit 20U is easily stabilized when the work robot 20 moves, and there is an advantage that, for example, the work unit 20U is easily positioned with respect to the component mounting device 3.

Further, during the feeder changing operation, the operation unit 20U receives the supply of electric power from the component mounting device 3, and therefore, it is not necessary to additionally mount a battery as an operation power source. Therefore, the working unit 20U and the working robot 20 are also advantageous in that they are small and lightweight.

Further, during the feeder changing operation, the operation unit 20U is fixed to the component mounting device 3 by the clamp mechanism 37 in a state of being positioned at the feeder changing operation position. Therefore, even after the unmanned conveyance vehicle 20V is separated from the operation unit 20U, the operation unit 20U can be reliably maintained at the feeder changing operation position, and the feeder changing operation of the operation unit 20U can be stably continued.

[ Second embodiment of work robot 20 ]

Next, a second embodiment of the work robot 20 will be described. The work robot 20 of the second embodiment is mainly different in the connection structure between the automated guided vehicle 20V and the work unit 20U. Fig. 15 is a side view of a main portion of the work robot 20 according to the second embodiment, showing the work unit 20U and the automated guided vehicle 20V before connection.

In the second embodiment, a connecting shaft 38 extending vertically is provided in the conveyance vehicle housing part 35 of the unit base 30. The connecting shaft 38 is a stepped shaft having a thick shaft portion 38b and a thin shaft portion 38 a. The upper end portion of the connecting shaft 38 is fixed to the side wall portion 34 on the front side of the unit base 30 by a bracket 39. Specifically, the connecting shaft 38 is fixed to the side wall 34 so as to face the opening 35 a.

On the other hand, the automated guided vehicle 20V is provided with a connection mechanism 60 as shown in fig. 16. Fig. 16 is a plan view showing the connection mechanism 60. As shown in fig. 15 and 16, the connection mechanism 60 is provided at the front end portion of the conveyance vehicle body 50. The connection mechanism 60 includes a lock mechanism portion 62 and a rotation preventing mechanism portion 64.

The lock mechanism 62 is a mechanism for fixing the automated guided vehicle 20V to the unit base 30, and is disposed at a height position corresponding to the thin shaft portion 38a of the connection shaft 38. The lock mechanism 62 includes a block-shaped fixed base 70, a pair of levers 74 swingably supported by the fixed base 70, an arm 77 for opening and closing the levers 74, and a motor 80 for driving the arm 77.

The base 70 has a T-shape in plan view, and includes a rectangular parallelepiped locking portion 70a extending in the left-right direction at a distal end (lower side in fig. 16) and a main body portion 70b extending rearward from a central portion of the locking portion 70 a. A recess having a trapezoidal shape in a plan view, which is recessed rearward, is formed in the center of the front end surface of the lock portion 70 a. A semicircular fitting portion 72a into which the thick shaft portion 38b of the connecting shaft 38 can be fitted is provided at an inner bottom (rear end portion) of the recess 72.

The levers 74 are disposed in front of the locking portion 70a and on the left and right sides of the recess 72, respectively. Each lever 74 has: an operation portion 74b extending in the width direction along the front surface of the lock portion 70 a; and a distal end portion 74a bent from one end of the operation portion 74b and extending toward the inside of the recess 72. Each lever 74 is pivotally supported by a pin 75 at a boundary portion between the distal end portion 74a and the operation portion 74b so as to be swingable in the direction along the floor surface. Specifically, the lever is pivotally supported so as to be swingable between a lever closed position, in which distal end portions 74a of the respective levers 74 approach each other inside the recess 72, and a lever open position, in which distal end portions 74a of the respective levers 74 are separated from each other inside the recess 72. Each lever 74 is pressed toward the lever closed position by the elastic force of a not-shown spring member.

The arm 77 has a 匚 -shaped form in plan view, and includes pressing portions 78a extending in the front-rear direction along the side surfaces of the lock portion 70a, respectively, and a connecting portion 78b connecting these pressing portions 78 a. The arm 77 is supported slidably in the front-rear direction along a rail portion, not shown, provided on the main body portion 70b of the base portion 70. A nut portion 78c is provided at a central portion of the connection portion 78b, and a screw shaft 82 extending in the front-rear direction is screwed into the nut portion 78 c. One end of the screw shaft 82 is connected to an output shaft of a motor 80 fixed to the base portion 70 (main body portion 70 b).

That is, if the screw shaft 82 is driven to rotate by the motor 80, the arm 77 advances, and the operation portion 74b of each lever 74 is pushed forward by each pushing portion 78 a. By this pressing, each lever 74 is displaced from the lever closed position to the lever open position against the elastic force of the spring member (see fig. 17 (b)). Then, if the screw shaft 82 is driven to rotate in the opposite direction, the arm 77 is retracted, and with this, each lever 74 is displaced from the lever open position to the lever closed position by the elastic force of the spring member. The lock mechanism 62 holds the connecting shaft 38 (the thin shaft portion 38 a) by the levers 74 and the lock portions 70a, and fixes (i.e., connects) the automated guided vehicle 20V to the unit base 30.

The rotation preventing mechanism 64 is a mechanism for restricting the unmanned vehicle 20V from being rotationally displaced in the direction along the floor surface with respect to the unit base 30. The rotation preventing mechanism 64 is disposed at a height position corresponding to the thick shaft portion 38b of the connecting shaft 38.

In fig. 16, for convenience of explanation, the rotation preventing mechanism 64 is shown by two-dot chain lines, but includes a lock piece 84 and a cylinder 86 that drives the lock piece 84 to advance and retreat. A fitting recess 38c that opens toward the rear of the unit base 30, i.e., the opening 35a, is formed in the thick shaft portion 38b of the connection shaft 38. By fitting the thick shaft portion 38b into the fitting recess portion 38c, displacement of the automated guided vehicle 20V in the rotational direction with respect to the unit base 30 is restricted.

Next, the operation of the connection mechanism 60 when connecting the automated guided vehicle 20V to the unit base 30 and when disconnecting the same will be described with reference to fig. 17. Fig. 17 is a plan view of the connection mechanism 60 illustrating a switching operation between a connection state and a disconnection state by the connection mechanism 60.

When the automated guided vehicle 20V and the unit base 30 are connected, the automated guided vehicle 20V enters the vehicle accommodating section 35 from the opening 35a with the connection mechanism 60 as a front end, and moves toward the connection shaft 38, as shown in fig. 15 and 16.

As the automated guided vehicle 20V moves, first, the thin shaft portion 38a of the connecting shaft 38 abuts against the distal end portion 74a of each lever 74, and as shown by the two-dot chain line in fig. 17 (a), each lever 74 is displaced to the lever open position against the elastic force of the spring member. If the automated guided vehicle 20V further advances, the thin shaft portion 38a is inserted into the recess 72 of the base portion 70 (locking portion 70 a) and fitted into the fitting portion 72a, and the respective levers 74 are displaced to the lever closed positions by the elastic force of the spring members. Thus, as shown by the solid line in fig. 17 (a), the connecting shaft 38 (thin shaft portion 38 a) is held by the lock portion 70a and the lever 74. Then, in this state, the lock piece 84 is displaced from the retracted position to the advanced position by the operation of the electric cylinder 86, and the lock piece 84 is fitted into the fitting recess 38c of the thick shaft portion 38 b. As a result, as shown in fig. 18, the automated guided vehicle 20V is connected to the unit base 30 in a state in which it cannot rotate relative to the unit base 30.

When the connection is released, the lock piece 84 is retracted from the fitting recess 38c by the operation of the electric cylinder 86, and then the arm 77 is advanced from the retracted position by the operation of the motor 80. If the arm 77 advances, as shown in fig. 17 (b), each pressing portion 78a of the arm 77 presses the operation portion 74b of each lever 74 forward, and each lever 74 is displaced to the lever open position against the elastic force of the spring member. Accordingly, the state of the lock portion 70a and the lever 74 holding the connection shaft 38 is released, and the automated guided vehicle 20V is retracted in this state, and the connection between the automated guided vehicle 20V and the unit base 30 is released.

In the configuration of the work robot 20 according to the second embodiment described above, the connection and disconnection between the automated guided vehicle 20V and the work unit 20U can be performed similarly to the work robot 20 according to the first embodiment, and the rotational displacement of the automated guided vehicle 20V with respect to the work unit 20U can be suppressed in the connected state. In particular, according to the connection mechanism 60, the unmanned vehicle 20V is advanced from the opening 35a toward the connection shaft 38 with the connection mechanism 60 as a front, so that there is an advantage that the unmanned vehicle 20V and the unit base 30 (the working unit 20U) can be connected relatively easily.

Modification example

The work robot 20 and the component mounting system 100 described above are examples of preferred embodiments of the work robot and the component mounting system according to the present invention, and the specific configuration thereof may be appropriately changed within a range not departing from the gist of the present invention. For example, the following structures (1) to (3) are also within the scope of the present invention.

(1) In the embodiment, as the "connection mechanism" of the present invention, the connection mechanisms 55 and 60 shown in fig. 5 and 6 (first embodiment) and fig. 15 to 18 (second embodiment) are applied. However, the "connection mechanism" is not limited to the connection mechanisms 55 and 60 of the embodiment. In short, the configuration may be such that the connection state in which the automated guided vehicle 20V can move together with the working unit 20U and the disconnection state in which the automated guided vehicle 20V is allowed to travel separately from the working unit 20U can be switched. However, in particular, according to the configuration of the connection mechanism 55 of the first embodiment, the configuration is relatively simple, the load on the automated guided vehicle 20V is small, and the configuration of the working unit 20U side is also simple. Therefore, there is an advantage in that it is low in cost and can be simply implemented.

(2) In the embodiment, an example in which the work robot 20 (the work execution unit 40) performs the replacement work of the tape feeder 14 between the work robot and the component supply area 12 is described. However, the work execution unit 40 may be configured to perform a work other than the feeder replacement work on the component mounting device 3. For example, in the case where the component supply area 12 (component mounting device 3) includes a tray feeder for supplying components in a state of being arranged on trays, the job execution unit 40 may be configured to perform a job of replacing the tray or a tray in which a plurality of trays are accommodated between the component supply area and the component mounting device 3. In the case where the tape feeder 14 is a general tape feeder other than the cassette type described above, the work execution unit 40 may be configured to perform a work of transferring a reel on which a tape is wound as a replenishment component to the component supply area 12. The job execution unit 40 may be configured to execute a job of collecting the used tape from the component supply area 12.

(3) In the embodiment, an example in which the work robot 20 works the component mounting apparatus 3, which is the "production apparatus for producing a component mounting substrate" of the present invention, is described. However, the "production device" may be a device other than the component mounting device 3 (printing device 1, etc.). Although not described in the embodiment, the "production apparatus" may be a loading apparatus that feeds the substrate P before production into the printing apparatus 1, or an unloading apparatus that recovers the substrate P after the reflow process. In this case, the work execution unit 40 performs, for example, a transfer work of a unit in which a plurality of substrates P are stored on the loading device, and a work of collecting a unit in which a plurality of substrates P subjected to reflow processing are stored on the unloading device. The "production facility" includes, for example, a so-called automated warehouse disposed in the preparation area Ar 2. In this case, the job execution unit 40 performs a job of transferring the components and facilities accumulated in the automated warehouse to and from the automated warehouse.

The present invention is summarized in the embodiments described above as follows.

According to this configuration of the work robot, the connection state between the work unit and the automated guided vehicle is released during the execution of the predetermined work on the production device, and the automated guided vehicle can be used for other purposes. Therefore, the period during which the automated guided vehicle is idle can be reduced, and the automated guided vehicle can be used more effectively.

In the working robot, it is preferable that: the job unit is configured to: can move along the floor surface in a state of standing on the floor surface where the unmanned conveying vehicle runs.

According to this configuration, the unmanned vehicle is not subjected to the load from the working unit, and therefore the driving force of the unmanned vehicle required for moving the working robot is suppressed. Therefore, the work robot can be moved by the traveling motor having a lower output, which contributes to making the unmanned conveyance vehicle inexpensive and reducing the running cost by saving electricity.

As a more specific configuration, the job unit includes: a job execution unit that executes the specified job; and a unit base portion that is disposed immediately below the job execution portion and supports the job execution portion so as to be movable along the floor surface, wherein the unit base portion includes: the transport vehicle housing part is hollow so that the unmanned transport vehicle can enter and exit the transport vehicle housing part by self-walking, and the connecting mechanism is configured as follows: the unmanned vehicle and the unit base accommodated in the vehicle accommodating section can be connected.

According to this configuration, the unmanned vehicle is connected to the submerged work unit in a state immediately below the submerged work unit, so that the occupied space of the work robot can be reduced.

In the work robot, it is preferable that: the connecting mechanism comprises: and a rotation preventing mechanism that restricts rotation of the automated guided vehicle relative to the unit base in a direction along the floor surface in the connected state.

According to this configuration, the traveling direction of the working unit is easily stabilized when the working robot moves, and positioning with respect to the production device is easily performed.

In addition, in the case where the production apparatus is provided with a power supply connector capable of supplying power to the outside, it is preferable that: the job unit includes: the power receiving connector can be fitted to the power feeding connector in a state of being disposed at a designated work position where the designated work is performed on the production apparatus.

According to this configuration, it is not necessary to mount a battery as a power source for work on the work unit. Therefore, the reduction in size and weight of the working unit and the working robot is facilitated.

In another aspect, the invention relates to a component mounting system comprising: a production device for producing the element mounting substrate; the work robot according to any one of claims 1 to 5, comprising a first work unit that performs a first designated work on the production device; a second operation unit that performs a second designated operation on the production apparatus and is capable of constituting the working robot according to any one of claims 1 to 5 together with the unmanned conveyance vehicle of the working robot; and a control device that controls the unmanned conveyance vehicle, wherein the control device performs control of: after the unmanned vehicle is driven to move the working robot to the position of the production device, the connection state between the unmanned vehicle and the first working unit is released and the unmanned vehicle and the second working unit are connected during the first working unit executes the first designated work, and then the second working unit is moved. The first designation job and the second designation job may be the same job or different jobs.

According to the configuration of the component mounting system, the unmanned carrier vehicle can be moved to the second working unit while the first working unit is executing the first designated work. Therefore, the period during which the automated guided vehicle is idle can be reduced, and the automated guided vehicle can be effectively utilized.

In the above component mounting system, it is preferable that: the production apparatus or the first working unit is provided with a clamping mechanism, and the first working unit and the production apparatus are fixed in a state where the first working unit is arranged at a specified working position where the first specified work is performed on the production apparatus.

According to this configuration, even in a state where the automated guided vehicle is away from the first work unit, the first work unit can be stably continued to perform the first designation work while being placed at the designation work position.

Claims

1. A work robot, comprising:

a work unit that performs a specified work on a production apparatus for producing the component mounting substrate; and

An unmanned carrier for carrying the operation unit,

The work robot further includes:

A connection mechanism that is switchable between a connection state in which the working unit and the automated guided vehicle can be moved together, and a disconnection state in which the automated guided vehicle is allowed to travel alone away from the working unit,

The job unit is configured to: the specified operation can be continued even in a state where the automated guided vehicle is away from the operation unit during execution of the specified operation on the production apparatus.

2. The work robot of claim 1, wherein the work robot is configured to move,

The job unit is configured to: can move along the floor surface in a state of standing on the floor surface where the unmanned conveying vehicle runs.

3. The work robot of claim 2, wherein the work robot is configured to move,

The job unit includes:

A job execution unit that executes the specified job; and

A unit base portion which is disposed immediately below the work execution portion and supports the work execution portion so as to be movable along the floor surface, wherein,

The unit base includes:

a conveying vehicle accommodating part which is hollow in a manner that the unmanned conveying vehicle can enter and exit the conveying vehicle accommodating part by self-walking,

The connecting mechanism is configured to: the unmanned vehicle and the unit base accommodated in the vehicle accommodating section can be connected.

4. A working robot according to any one of claim 1 to 3, wherein,

The connecting mechanism comprises:

and a rotation preventing mechanism that restricts rotation of the automated guided vehicle relative to the unit base in a direction along the floor surface in the connected state.

5. The working robot according to any one of claims 1 to 4, wherein,

The apparatus for production comprises:

A power supply connector capable of supplying power to the outside,

The job unit includes:

The power receiving connector can be fitted to the power feeding connector in a state of being disposed at a designated work position where the designated work is performed on the production apparatus.

6. A component mounting system characterized by comprising:

a production device for producing the element mounting substrate;

The work robot according to any one of claims 1 to 5, comprising a first work unit that performs a first designated work on the production device;

a second operation unit that performs a second designated operation on the production apparatus and is capable of constituting the working robot according to any one of claims 1 to 5 together with the unmanned conveyance vehicle of the working robot; and

A control device for controlling the unmanned transport vehicle, wherein,

The control device performs the following control: after the unmanned vehicle is driven to move the working robot to the position of the production device, the connection state between the unmanned vehicle and the first working unit is released and the unmanned vehicle and the second working unit are connected during the first working unit executes the first designated work, and then the second working unit is moved.

7. The component mounting system of claim 6, wherein,

The production apparatus or the first working unit is provided with a clamping mechanism, and the first working unit and the production apparatus are fixed in a state where the first working unit is arranged at a specified working position where the first specified work is performed on the production apparatus.