JP2011253869A - Manufacturing working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manufacturing working machine with high versatility.SOLUTION: A working element execution device for executing one of plural working elements constituting a manufacturing work is provided with plural working head devices 26, 28 with different kinds of works to be executed. Concretely, for example, one head device 26 of the plural working head devices is a main head device which executes a main work in the manufacturing work, for example, holds components supplied by a component supply device 24 to assemble the components to a base material delivered by a delivery device 22. The other device 28 of the plural working head devices is an auxiliary head device which executes an auxiliary work to the main work, for example, applies adhesive in prior to a work to assemble the components to the base material. In this manner, plural kinds of works can be executed, so as to obtain a manufacturing working machine with high versatility.

Description

  The present application relates to a manufacturing machine for performing a manufacturing operation.

  As an assembling machine for assembling an electric circuit, which is a kind of manufacturing work, for example, there is an assembling machine described in the following patent document. Such an assembly work machine is called a component mounting machine, and performs an operation of mounting a circuit component, which is another component, on a circuit substrate, which is a single component. Corresponding to a plurality of work elements such as attachment of a component to a circuit board, it is constituted by a plurality of work element execution devices such as a transport device, a component supply device, and a mounting head device.

JP 2004-104075 A

  The circuit component mounting machine can perform only a single type of work such as mounting circuit components on a circuit board, and lacks versatility. For example, it becomes possible to increase the versatility of the manufacturing machine by making it possible to expand the manufacturing object to something other than an electric circuit and enabling a plurality of types of work. This invention makes it a subject to provide a manufacturing machine with high versatility in view of such a situation.

  In order to solve the above-described problems, a manufacturing work machine according to the present invention includes a plurality of work head devices that are different from each other in the type of work to be performed as a work element execution device provided in the manufacturing work machine.

  The manufacturing machine according to the present invention includes a plurality of work head devices that are different from each other in the type of work to be performed, so that a plurality of types of work can be performed, and a highly versatile manufacturing apparatus is realized.

Aspects of the Invention

  In the following, some aspects of the invention that can be claimed in the present application (hereinafter sometimes referred to as “claimable invention”) will be exemplified and described. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is merely for the purpose of facilitating the understanding of the claimable inventions, and is not intended to limit the combinations of the constituent elements constituting those inventions to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiments, etc., and as long as the interpretation is followed, another aspect is added to the form of each section. In addition, an aspect in which some constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention.

  The combination of the following items (1), (21), (31), and (32) corresponds to claim 1, and the invention-specific matters described in claim (33) are defined in claim 1. What is added is Claim 2, and Claim 1 or Claim 2 is added with the invention-specific matters described in the items (34) and (35) in Claim 3, and in Claims 1 to 3. The invention-specific matters described in (36) are added to any one of them in claim 4, and any one of claims 1 to 4 is described in (41) and (71). The invention-specific matters are added to claim 5, the invention-specific matters according to claim 5 are added to claim 6, and claims 6-73 and 74 are added. The invention-specific matters described in (5) are added to claim 7, (6) or (7) in (75) and (76). The invention-specific matters described in the paragraphs are added to the eighth aspect, the invention-specific matters described in the paragraph (77) are added to the eighth aspect, the claims 9 to 9, and any one of the first to ninth aspects. One of these items, to which the invention-specifying matters described in the items (10), (11), (14) and (15) are added, corresponds to claim 10 respectively.

≪Basic structure≫
Hereinafter, some aspects related to the basic configuration will be described.

(1) A manufacturing work machine for performing manufacturing work,
A manufacturing work machine comprising a plurality of work element execution devices, each of which executes one of a plurality of work elements constituting the manufacturing work.

  The “manufacturing work” performed by the manufacturing work machine, that is, the work to be performed by the manufacturing work machine is not particularly limited. For example, the assembly work for assembling an assembly assembled by a plurality of parts is started. Various operations such as performing some processing, processing, etc. on the object (which is a concept including “parts”, “assembly”, “work”, etc.) are the execution target operations. More specifically, as the work to perform some processing, for example, work that deforms the work object such as press work, work that removes part of the work object such as cutting work, work object such as cutting work, etc. The work to be molded is the work to be performed. In addition, as a work for performing some kind of processing, for example, a surface modification work of the work target by laser, plasma, etc., a coating work for applying an adhesive, a colorant or the like to the work target, hot air, cold air, etc. Heat treatment operations such as heating, drying and cooling, surface finishing operations such as polishing, operations for fixing by screwing other components assembled to one component, etc. Work to irradiate light, ultraviolet rays, electromagnetic waves, etc. to the target work. Note that inspection work for inspecting work results such as assembly work, work for performing some kind of processing and processing, and the like can also be work to be performed.

  “Working element” means, for example, one of movement, rotation, posture change, processing, processing, and the like performed on a work target. One manufacturing operation is performed by linking these work elements, and the type, number, and mode of cooperation of work elements differ depending on the work to be performed. The “work element execution device” is a device that executes one work element, and can be considered as a device having a single function corresponding to the work element, for example. Specifically, for example, when the work to be performed is an assembly work, as described later, (a) the part 1 is carried from the outside of the manufacturing work machine, and the assembly is put out of the manufacturing work machine. (B) a component supply device that executes the supply of another component, (c) a component that performs holding for assembling the component supplied by the component supply device to the one component. Holding head (a kind of “working head device”, also called “carry head”), (d) a head moving device that moves the component holding head device to move the component held by the component holding head, etc. Each is installed in a manufacturing work device as a work element execution device. An imaging device such as a camera for imaging a part or assembly in order to recognize the position, posture, assembly accuracy, etc. of the part or assembly in an assembly operation or an inspection operation for inspecting the result of the assembly operation is also provided. An adhesive application device that applies an adhesive to at least one of the two parts in order to fix the two parts in an assembly operation is also called an adhesive application. It can be a work element execution device that executes a work element. Various apparatuses that perform laser processing, plasma processing, and other processing / processing described above can also be work element execution apparatuses in manufacturing operations in which these processes are performed.

(2) The manufacturing machine is
A general control device that controls the plurality of work element execution devices in an integrated manner by sequentially transmitting a plurality of operation commands, each of which is a command for one operation performed by one of the plurality of work element execution devices. The manufacturing machine according to item (1).

  According to the aspect of this section, it is possible to respond flexibly to changes in manufacturing objects, etc., simply by changing the contents of each operation command transmitted from the overall control device by the overall control device. is there.

  (3) The manufacturing machine according to (1) or (2), wherein each of the plurality of work element execution devices includes an individual control device that controls its own operation.

  According to the aspect of this section, each work element execution device is performed by its own individual control device. Simply put, each work element execution device is an intelligent embodiment. Note that the work implement may include a work element execution device that does not have an individual control device. In this case, only the work element execution device that has the individual control device is the work element execution device in this section. It is equivalent to.

(4) Each of the plurality of work element execution devices includes:
Manufacture according to item (3), comprising one or more actuating devices for performing the work elements that are intended for the device, wherein the individual controller provided therein controls the one or more actuating devices Work machine.

  The “actuating device” referred to in this section can be considered as, for example, one controllable actuating body in one work element execution apparatus or a driving source of the actuating body such as a motor. Typically, in the component holding head described above, a device for holding the head is an operation device. For example, when the work element execution device is a transport device, a transport device such as a conveyor becomes one operating device, and when the work element execution device has a fixing device for fixing the transported object accompanying the transport, The fixation device is also an actuation device. Further, when an XY type or XYZ type head moving device, which will be described later, is a work element execution device, each of the linear type moving devices that share the respective movements in the X, Y, and Z directions is an operating device. The operating device is not limited to the one that functions as an actuator. For example, when a plasma processing apparatus, a laser processing apparatus, or the like is a work element execution apparatus, a plasma generator, a laser generator, or the like can also be an operating device. When the imaging apparatus is a work element execution apparatus, an illuminator or the like can be an operating device in addition to an imaging device such as a camera. Furthermore, an operation device that performs the above-described processing or processing may be an operation device. When the work element execution device includes a plurality of operation devices, the plurality of operation devices are controlled by a single individual control device, and the work element execution device becomes an intelligent device.

(5) The manufacturing machine is
A general control device that controls the plurality of work element execution devices in an integrated manner by sequentially transmitting a plurality of operation commands, each of which is a command for one operation performed by one of the plurality of work element execution devices. Prepared,
The individual work device is
Recognizing the content of the operation command transmitted from the overall control device, one of the plurality of work element execution devices is provided with the one or more actuating devices to perform one operation corresponding to the operation command. The manufacturing machine according to item (4) configured to control operation.

  The mode of this section is a mode in which the individual control device understands the content of the operation command from the overall control device and operates the appropriate operating device, and the work element execution device in the mode of this section is considerably intelligent. Is an advanced device. If the work element execution device is replaced in accordance with the manufacturing operation (concept that includes both removing the device from the manufacturing work machine and attaching the device to the manufacturing work machine), the overall control device is configured. It is possible to cope with the replacement of the work element execution device by simply changing the contents of the operation command without changing the operation command.

(6) The manufacturing machine is
A general control device that controls the plurality of work element execution devices in an integrated manner by sequentially transmitting a plurality of operation commands, each of which is a command for one operation performed by one of the plurality of work element execution devices. Prepared,
The overall control device includes an overall interface unit for transmitting an operation command to each of the plurality of work element execution devices according to one protocol, and the individual control device of each of the plurality of work element execution devices includes The manufacturing machine according to any one of (3) to (5), further comprising an individual interface unit for receiving an operation command transmitted from the overall control device according to the first protocol.

  In short, the mode of this section is a mode in which the interfaces of the individual control devices included in each work element execution device are the same. According to the aspect of this section, even when the work element execution device is replaced, it is possible to easily cope with the replacement.

(7) At least one of the plurality of work element execution devices is
The manufacturing according to any one of (3) to (6), wherein the individual control device is incorporated in a portion that operates to execute one of the plurality of work elements, and is unitized. Work machine.

  The work element execution device in the aspect of this section can be considered as a device in which, for example, a main body, that is, a part having a mechanism that operates for work, and an individual control device are integrated. it can. The work element execution apparatus unitized as described above can be easily replaced at the time of replacement.

(8) The manufacturing machine is
A base is provided, and at least one of the plurality of work element execution devices is configured to be detachable from one of the base and another of the plurality of work element execution devices ( The manufacturing machine according to any one of items 1) to (7).

  If the work element execution device is detachable, the work element execution device can be easily replaced. In addition, it is desirable to employ a mechanism that allows the work element execution device to be attached and detached with a single touch. In other words, it is desirable to employ a mechanism in which the device is fixed and released by a single operation of a predetermined operation member.

(9) The manufacturing machine is
Any one of the items (1) to (8), wherein at least one of the plurality of work element execution devices is configured to be exchangeable with another work element execution device other than the plurality of work element execution devices. The manufacturing work machine as described in one.

  As described above, if the work element execution device is replaceable, the manufacturing work machine can be generalized. In other words, by arranging an appropriate work element execution device according to the manufacturing work in the manufacturing work machine, the manufacturing work machine can be adapted to various work.

  (10) The manufacturing work machine according to (9), wherein the manufacturing work machine includes the replaceable other work element execution device.

  In the manufacturing work machine according to the aspect of this section, not all work element execution apparatuses are arranged in the main body of the manufacturing work machine, but the replaceable work element execution apparatus is in a single state, It is a manufacturing work machine made into one set with the work element execution apparatus arranged in the main body.

  (11) The manufacturing work machine according to any one of (1) to (10), wherein the manufacturing work machine is an assembly work machine that performs an assembly work of an assembly assembled by a plurality of parts as the manufacturing work.

  (12) The manufacturing work machine is configured to assemble a second part, which is another one of the plurality of parts, into a first part, which is one of the plurality of parts. The manufacturing machine according to item (11), which is performed at least as a part.

(13) The plurality of work element execution devices may include:
The work necessary for assembling the second part to the first part, or the work performed on an object in which the second part is assembled to the first part is performed by one of the plurality of work elements. The manufacturing machine according to item (12), including a work head device executed as

(14) The plurality of work element execution devices include:
The manufacturing work machine according to item (12) or (13), comprising a transfer device that executes transfer of at least one of the first part and the assembly as one of the plurality of work elements. .

(15) The plurality of work element execution devices may include:
The manufacturing work machine according to any one of items (12) to (14), including a component supply device that executes the supply of the second component as one of the plurality of work elements.

  The above five modes are various modes in which the manufacturing machine is an assembly machine. The “work required for assembling the first part to the second part” relating to the work head device is “main work” in the work of assembling the first part to the second part (hereinafter sometimes referred to as “assembly work”). It may also be “subsidiary work”. The “main work” includes, for example, holding the second part for assembly, specifically, holding the second part to carry the supplied second part to the position where the first part exists. The work includes the work of screwing the second part into the first part and fixing the second part. Incidentally, the working head device that holds the second component can be called a component holding head. The “auxiliary work” includes imaging of the first part for recognizing the position, posture, and the like of the fixed first part, and adhesive to at least one of the first part and the second part. , Operations such as application of a processing agent and the like performed prior to assembly of the first part to the second part are included. Incidentally, the working head device that performs the imaging can be referred to as an imaging head, and an application head that is a working head device that applies an adhesive or the like is a kind of application head. Furthermore, in “an operation performed on an object in which the second part is assembled to the first part”, for example, in an assembly operation such as imaging of the assembly performed for recognition of the assembly accuracy of the assembly. Ancillary work is included.

≪Working head device≫
Below, some aspects regarding the working head device will be described.

  (21) The manufacturing work machine according to any one of (1) to (15), wherein the plurality of work element execution devices include a work head device.

  The “work head device” is a work element execution device that plays a central role in the manufacturing work, and gives some operation to the work object from the upper side or side of the work object or performs some processing. It can be considered as a device for applying. Various work head devices can be employed depending on the work to be performed by the manufacturing machine. Since the work head device that can be employed in the assembly work has been described above, a description thereof is omitted here. Even in the case of a manufacturing work machine that performs work other than assembly work, the above-described component holding head, coating head, imaging head, and the like can also be a work head device of the manufacturing work machine, and have a laser generator. A laser head, a plasma head having a plasma generator, or the like can also be a working head device of the manufacturing machine. Incidentally, a component moving head for moving a component, a component holding head for holding a component for the purpose of moving the component, etc., can also be called a carry head, such as a coating head, an imaging head, a laser head, a plasma head, etc. The work head device that performs some processing and processing described in (1) can also be collectively referred to as a process head.

  (22) The manufacturing machine according to (21), wherein the work head device is configured to be exchangeable with another work head device.

  (23) The manufacturing work machine according to (22), wherein the manufacturing work machine includes the other replaceable work head device.

  The modes of the above two terms are modes that greatly contribute to the generalization of manufacturing work machines.

(24) The working head device is
The manufacturing work machine according to any one of items (21) to (23), comprising: a main device that is a work subject in work performed by the work head device; and a moving device that moves the main device.

  The mode of this section is a mode in which the working head device has a plurality of actuating devices. The “main device” in this section is a device that plays a central role in the work element to be executed. In addition, “moving the main device” which is a function of “moving device” includes not only “moving” in a narrow sense but also “rotating”, “rotating”, “vibrating”, “swinging”, and the like. Means that. Taking a component holding head as an example, for example, a component holding device (for example, a shaft-shaped device) having a suction nozzle, chuck, clamp, etc. at its tip corresponds to the main device, and the component holding device is moved in the axial direction. The actuator to be moved, the actuator to be rotated around the axis, and the like correspond to the moving device.

≪Multiple work head devices≫
Below, some aspects regarding the manufacturing work machine provided with a plurality of work head devices will be described.

  (31) The manufacturing work machine according to (21) to (24), wherein the plurality of work element execution devices include a plurality of work head devices, each of which is the work head device.

  By providing a plurality of work head devices, the throughput, versatility, etc. of the manufacturing work machine are increased. For example, it is possible to increase the productivity of the manufacturing work machine by providing a plurality of the same work head devices. Further, by providing a plurality of work heads of the same type, the range of work objects is expanded.

(32) The plurality of work head devices are
The manufacturing work machine according to item (31), including a first work head device and a second work head device that are different from each other in the type of work to be performed.

  The aspect of this section is an aspect in which the manufacturing machine includes a plurality of types of work head devices, in other words, a plurality of different work head devices having different functions. In this section, “different from each other in the type of work to be performed” means that the work element executed by the first work head device is different from the work element executed by the second work head device. For example, as a work element that is the target of the component, the component holding head holds components for transportation and movement, the coating head performs application of adhesives, etc., and the imaging head performs imaging of the target, respectively. These work head devices differ from each other in the type of work to be performed. By providing work head devices with different work elements to be executed, the production work machine can perform production work with complicated contents, in other words, production work in which different kinds of work are combined.

  (33) The first work head device is a main head device that executes a main work in the manufacturing work as one of the plurality of work elements, and the second work head device is configured to perform the main work. The manufacturing machine according to the item (32), wherein an auxiliary head device is configured to perform an auxiliary work as another one of the plurality of work elements.

  The “main work” in the aspect of this section means a work element that is central or core in the manufacturing work performed by the manufacturing work machine, and the “auxiliary work” is performed in relation to the main work. Think of it as a work element. For example, the work performed by the main head device and the work performed by the auxiliary head device become a series of work or collaborative work (a concept including joint work, synchronous work, cooperative work, etc.). These aspects are included in the aspects of this section. Depending on the work to be performed, various work can be a main work or an auxiliary work. In the case of an assembly work machine in which the work to be performed is an assembly work, as described above, for example, a component holding head or the like can be a main head device, and a coating head, an imaging head, or the like can be an auxiliary head device.

  Note that, for example, in the case of a manufacturing work machine that performs an operation of incorporating another part into one part, and when the work requires support, position fixing, etc. of the one part, A head that performs screwing and press-fitting of components is the main head device, and a head that supports and fixes other components is the auxiliary head device. In addition, for example, even in an operation for performing some processing / processing on the work target such as laser processing, when it is necessary to support / fix the position / press the work target during the processing / processing, etc. The head that performs processing / processing on the work object is the main head device, and the head that supports, fixes, and presses the work object is the auxiliary head device. Such built-in work, processing, processing, and the like are an example in which two work head devices perform a collaborative work. In such a collaborative work, it is as if a human is holding one work object with both hands. As will be handled, the two working head devices will cooperate.

(34) The manufacturing work machine is an assembly work machine that performs an assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and a first part that is one of the plurality of parts, Assembling the second part, which is another one of the plurality of parts, as at least a part of the assembling work,
In the item (32) or (33), the first work head device is configured to perform holding of the second part as work necessary for assembling the second part to the first part. The manufacturing machine described.

  The mode of this section is a mode in which the first work head device is specifically limited in a manufacturing work machine that performs assembly work. In the aspect of this section, for example, a so-called carry head such as the component holding head described above can be the first work head device. The component holding head can be considered to correspond to a main head device that performs the above-described main work.

(35) The second working head device is
(A) an operation performed prior to an operation of assembling the second component to the first component as an operation necessary for assembling the second component to the first component; and (B) the first component comprising: The manufacturing machine according to (34), wherein one of the operations performed on the object on which the second part is assembled is performed.

  The mode of this section is a mode in which the second work head device is specifically limited in a manufacturing work machine that performs assembly work. In the aspect of this section, for example, the coating head, the imaging head, and the like described above can be a work head device that performs work performed prior to the work of assembling the second component to the first component, The first component can be a work head device that performs an operation to be performed on an object in which the second component is assembled. Incidentally, the coating head, the imaging head, and the like can be called so-called process heads, and in the aspect of this section, they are considered to correspond to the above-described auxiliary head device that performs the auxiliary work. be able to.

  (36) Any of the items (31) to (35), wherein at least one of the plurality of work head devices is configured to be exchangeable with another work head device other than the plurality of work head devices. The manufacturing work machine as described in one.

  (37) The manufacturing work machine according to (36), wherein the manufacturing work machine also includes the other work head device that can be replaced.

  The modes of the above two terms are modes that greatly contribute to the generalization of manufacturing work machines.

≪Head moving device≫
In the following, several aspects relating to an apparatus for moving the work head apparatus will be described.

(41) The plurality of work element execution devices,
The manufacturing work machine according to any one of (21) to (36), including a head moving device that executes movement of the work head device as one of the plurality of work elements. .

  “Movement of work head device”, which is a function of “head moving device”, means not only “moving” in a narrow sense but also “rotating”, “rotating”, “vibrating”, “swinging”, and the like. It is. The movement mode, mechanism, and the like are not particularly limited, and devices having various modes and mechanisms can be employed as the head movement device. For example, various devices such as a moving device that moves along one orbit as described later, a moving device that combines two or more linear moving devices, and a moving device such as an articulated robot can be adopted. is there.

  In the case of a manufacturing work machine having a plurality of work head devices, a plurality of work heads may be moved by one head moving device. On the contrary, in order to move a plurality of work head devices by a plurality of head moving devices, in detail, each of the plurality of work head devices is moved independently by a corresponding one of the plurality of head moving devices. You may comprise so that it may be. In other words, one head moving device may move a single working head device, or may move a plurality of working head devices. Incidentally, a mode in which a plurality of work head devices are moved independently from each other by a plurality of head moving devices is effective when the plurality of work head devices work in cooperation.

(42) The head moving device is
The manufacturing machine according to the item (41), further including a head holding unit that holds the work head device, wherein the work head is moved by moving the head holding unit.

  (43) The manufacturing work machine according to (42), wherein the work head is detachable from the head holding portion.

  The modes of the above two terms are modes in which a further structural limitation is added to the head moving device.

≪Plane type moving device≫
Hereinafter, several modes in which the head moving device includes a planar moving device will be described.

  (51) The manufacturing operation according to any one of (41) to (43), wherein the head moving device includes a planar moving device that moves the working head device along one plane. Machine.

  (52) The manufacturing work machine according to (51), wherein the planar moving device moves the work head device along a horizontal plane as the one plane.

  In addition to the XY type moving device described later, it is also possible to employ a device in which the head holding portion self-runs on a member that defines the one plane. These modes are modes in which an XYZ type moving device can be easily configured by combining with a vertical moving device described later. In addition, when a manufacturing work machine is provided with a plurality of work head devices, from the viewpoint of downsizing, simplification, etc. of the manufacturing work machine, the plurality of work head devices are formed by one planar moving device. , It is desirable to be configured to move together, that is, integrally.

(53) The planar moving device is
Manufacture according to (51) or (52), comprising two linear movement devices that linearly move the work head device in each of two directions intersecting each other along the one plane. Work machine.

  (54) The manufacturing machine according to (53), wherein the two linear moving devices move the working head device in each of directions orthogonal to each other.

  In the above two aspects, the planar moving device is a so-called XY type moving device. The manufacturing work machine according to the two aspects may be configured such that each of the two linear movement devices becomes one work element execution device. On the other hand, the head moving device or the planar moving device may be one work element execution device, and each of the two linear movement devices may be an operation device of the one work element execution device. Is possible. When the manufacturing machine has a plurality of work head devices, one linear moving device that moves the work head devices together in one direction in two directions (integrally) and the plurality of work head devices. Each of the head devices may be configured to include a plurality of linear movement devices that independently move in the other of the two directions. This configuration is effective when a plurality of work head devices cooperate to perform work on one work object.

(55) One of the two linear movement devices is
The manufacturing machine according to (53) or (54), wherein the manufacturing machine has a shaft body arranged to extend in one of the two directions intersecting each other.

  (56) The manufacturing machine according to (55), wherein the shaft body is a screw rod constituting a ball screw mechanism.

(57) The other of the two linear movement devices is
By translating the shaft body of one of the two linear movement devices to the other of the two directions intersecting each other, the work head device is moved to the other of the two directions orthogonal to each other. The manufacturing machine according to (55) or (56), which is configured to be moved to

  The aspects of the above three terms are aspects showing a typical configuration in a so-called XY type moving apparatus. In the aspect of the second term among the above three terms, the shaft body is a screw rod for a ball screw, but in the aspect of the other terms, the shaft body is the one of the above two directions. It may be a guide rod that guides the movement of the working head device to one side.

(58) One of the two linear movement devices is
The manufacturing machine according to any one of (55) to (57), wherein the shaft body is configured to be insertable / removable in one of two directions intersecting each other.

(59) The other of the two linear movement devices is
By translating the shaft body of one of the two linear movement devices to the other of the two directions intersecting each other, the work head device is moved to the other of the two directions orthogonal to each other. Configured to move to
The manufacturing machine according to (58), wherein the shaft body can be inserted and removed in a state where the shaft body is moved to a specific position by the other of the two linear moving devices.

(60) The manufacturing machine is
An exterior panel provided on one of both side surfaces in one of the two directions intersecting each other and having an opening formed in a part thereof;
The manufacturing machine according to (58) or (59), wherein the shaft body is insertable / removable through the opening.

(61) The other of the two linear movement devices is
By translating the shaft body of one of the two linear movement devices to the other of the two directions intersecting each other, the work head device is moved to the other of the two directions orthogonal to each other. Configured to move to
The manufacturing according to (60), wherein the opening is formed at a position facing one end of the shaft body when the shaft body is moved to a specific position by the other of the two linear movement devices. Work machine.

  The modes described in the above four items are modes in which the shaft body described above can be inserted into and removed from the manufacturing machine in the direction in which the shaft body extends. For example, this is an effective mode in the case of replacing the screw rod constituting the ball screw mechanism. In particular, in a system in which a plurality of manufacturing work machines are arranged side by side, if a similar opening is provided at the same position on the exterior panel of adjacent manufacturing work machines, a plurality of manufacturing work machines are adjacent to each other. Even if it is arranged, the shaft body can be easily exchanged. In addition, it may be possible to insert and remove on both sides, or may be insertable and removable only on one side. Incidentally, the opening is not limited to the hole, and may be a notch provided in the exterior panel.

<< Up-and-down direction moving device and related two-stage movement of head, imaging device >>
Hereinafter, several modes in which the head moving device includes a vertical moving device will be described.

(71) The head moving device is
The manufacturing work machine according to any one of items (41) to (61), including a vertical movement device that moves the work head device in a vertical direction.

(72) The head moving device has a head holding portion that holds the work head device;
The manufacturing machine according to (71), wherein the vertical movement device is configured to move the work head device in a vertical direction by moving a head holding portion thereof.

  The vertical movement devices in the above two terms may constitute a head movement device alone, or may constitute a head movement device together with the planar movement device. In the latter case, the so-called XYZ type moving device is a device that shares the movement in the Z direction. It is also possible to configure the manufacturing work machine such that the vertical movement device is a single work element execution device, and the head movement device is the work element execution device, and one work constituting the work element execution device. It can also be configured to be a device.

  When the manufacturing work machine includes a plurality of work head devices, the vertical movement device may move the plurality of work head devices collectively or integrally, and each of them may be moved independently. It may be a thing. In the former case, it can be configured such that a common head holding portion exists in a plurality of work head devices, whereas in the latter case, one head holding portion is provided for each of the plurality of work head devices. It can be configured to exist. In the latter case, it can be considered that the head moving device has a plurality of vertical moving devices. Incidentally, when a plurality of work head devices are provided, not all of them need to be moved by the vertical movement device, and there may be a work head device that cannot be moved in the vertical direction.

  (73) A main device that is a work subject in the work performed by the work head device, and a moving device that is held by the head holding unit and moves the main device relative to the head holding unit. The manufacturing machine according to (72), comprising:

  (74) The manufacturing machine according to (73), wherein the moving device moves the main device in the vertical direction with respect to the head holding portion.

  According to the above two aspects, the main device is moved by both the moving device and the vertical movement device, and the main device can be moved in a relatively complicated manner. In particular, according to the latter mode, since the main device is moved in two stages, in other words, the movement can be performed using a so-called telescopic mechanism. It is possible to increase the vertical movement range of the main device while reducing the size in the direction dimension. For example, when the manufacturing work machine is an assembly work machine, the work head device is a part holding head, and the main device is a part holding device, the parts held by the part holding head and the vertical direction of the parts to which the parts are assembled Even when the dimensions at are large, it is possible to easily perform the work for assembling those parts.

(75) The manufacturing machine includes an imaging device,
The manufacturing work machine according to any one of (71) to (74), wherein the imaging device is moved up and down together with the work head device by the up and down direction moving device.

(76) The head moving device has a head holding portion for holding the work head device,
The vertical movement device is configured to move the working head device in the vertical direction by moving the head holding portion;
The manufacturing machine according to (75), wherein the imaging device is attached to the head holding unit.

(77) The manufacturing work machine is an assembly work machine that performs assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and the first part that is one of the plurality of parts, Assembling a second part that is another one of the plurality of parts as at least a part of the assembling work,
The manufacturing according to (75) or (76), wherein the imaging device is configured to image at least one of the first component and an object in which the second component is assembled to the first component. Work machine.

  In the above three aspects, the manufacturing machine includes an imaging device such as a camera, and the imaging device is moved by the vertical movement device. In the above three aspects, the imaging device may be a work head device, that is, one of a plurality of work element execution devices, or may not be a work element execution device. When the manufacturing work machine is configured to include a plurality of work head devices separately from the imaging device, the imaging device is moved up and down together with at least one of the plurality of work head devices. That's fine.

  According to the above three aspects, the imaging area of the imaging device can be changed and the focus can be adjusted without depending on the functions of the imaging device itself such as the zoom function and the focus adjustment function. Even a manufacturing machine equipped with a non-imaging device can perform appropriate imaging according to the dimensions of the imaging target.

  For example, when the manufacturing work machine is an assembly work machine and the above-described parts holding head (carry head) and a process head such as a coating head are arranged, It is desirable that the imaging device is moved in the vertical direction together with the holding head. An imaging apparatus recognizes the above-described positional deviation of the first component, and based on the recognition result, a manufacturing work machine or an imaging apparatus in which the second component held by the component holding head is assembled to the first component. In the case of a manufacturing work machine that inspects an object that has been assembled by a holding head, it is desirable that the imaging apparatus be configured to be moved together with the component holding head. With such a configuration, it is possible to maintain relatively high assembly accuracy and inspection accuracy.

(78) The plurality of work element execution devices are configured to include a plurality of work head devices, each of which is the work head device,
The head moving device is
Each of the plurality of work head devices is provided corresponding to each of the plurality of work head devices, and each of the plurality of work head devices functions as the vertical movement device, and moves the one corresponding to itself among the plurality of work head devices in the vertical direction. The manufacturing work machine according to any one of (71) to (77), comprising a direction moving device.

  The mode of this section is a mode provided with a plurality of vertical movement devices. Since it explained in detail previously, explanation here is omitted.

≪Conveyance device, parts supply device≫
Below, some aspects regarding a conveyance apparatus and a component supply apparatus are demonstrated.

(81) The manufacturing work machine is an assembly work machine that performs assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and the first part that is one of the plurality of parts, Assembling a second part that is another one of the plurality of parts as at least a part of the assembling work,
The plurality of work element execution devices,
A transfer device configured to execute transfer of at least one of the first part, which is one of the plurality of parts, and the assembly as one of the plurality of work elements;
The manufacturing machine according to any one of items (1) to (78), wherein the transfer device is configured to be exchangeable with another transfer device other than the transfer device.

  (82) The manufacturing machine according to (81), wherein the manufacturing apparatus also includes the exchangeable other transfer device.

  (83) The manufacturing machine according to (81) or (84), wherein the transport device and the other transport device are different from each other in a transport mechanism.

The above three aspects are aspects related to the transport device. In the third aspect of the above three terms, the “different from each other in the transport mechanism” includes, for example, those in which the trajectories of the transport target being transported are different from each other. For example, one transport device is a device in which a transport object moves on a single plane, such as a so-called belt conveyor method, and the other transport device is a so-called lift-and-carry (lift and carry) device. Some aspects are included. The three aspects described above are aspects that contribute to the improvement of versatility of the manufacturing work machine that is an assembly work machine.

(86) The manufacturing work machine is an assembly work machine that performs assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and the first part that is one of the plurality of parts, Assembling a second part that is another one of the plurality of parts as at least a part of the assembling work,
The plurality of work element execution devices,
A component supply device that executes the supply of the second component as one of the plurality of work elements is configured so that the component supply device can be replaced with another component supply device other than the component supply device. The manufacturing machine according to any one of items (1) to (83).

  (87) The manufacturing machine according to (86), wherein the manufacturing machine also includes the replaceable other component supply device.

  The two aspects described above are aspects relating to the component supply device, and are aspects that contribute to improving the versatility of the manufacturing work machine that is an assembly work machine. As the component supply device, a tray-type component supply device that supplies these components in a tray in which a plurality of components are arranged, supplies these components by sequentially feeding a tape that holds the plurality of components, or is inconsistent It is possible to employ various types of devices such as a feeder-type component supply device that supplies a plurality of components accommodated in a state by sequentially feeding them while aligning them.

≪Manufacturing work system≫
The following is an aspect related to a manufacturing work system in which the manufacturing work devices are arranged.

  (91) A plurality of the manufacturing work machines according to any one of (1) to (87), wherein the plurality of manufacturing work machines are arranged, and the manufacturing work by each of the plurality of manufacturing work machines Manufacturing work system configured to be executed sequentially.

  According to the aspect of this section, for example, even if it is a manufacturing operation over a plurality of steps, it is possible to complete the manufacturing operation as a system by causing one manufacturing work machine to perform one step. . In order to reduce the size of the system, it is desirable that the plurality of manufacturing machines are arranged adjacent to each other. In addition, in order to smoothly carry in the work object from the manufacturing work machine that performs the previous process, and to carry out the work object to the manufacturing work machine that performs the post-process, It is desirable to be controlled. Furthermore, for example, by making the bases of a plurality of manufacturing work machines identical or standardized, and sharing a work element execution apparatus for a plurality of manufacturing work machines, the versatility of the system itself is enhanced.

1 is an external view of a manufacturing machine that is an embodiment of the claimable invention. It is a perspective view which shows the manufacturing work machine of FIG. 1 in the state which removed the work element execution apparatus with which it is provided, and a cover. It is a perspective view which shows the manufacturing work machine of FIG. 2 in a viewpoint from the opposite direction. It is a perspective view which shows the manufacturing work machine of FIG. 1 in the state which attached the work element execution apparatus with which it is attached. It is a perspective view which shows the manufacturing work machine of FIG. 4 in a viewpoint from the opposite direction. It is the figure which showed the circuit board mounted on the board | substrate tray carried in to the manufacturing work machine of FIG. 4, and the board | substrate tray. It is an enlarged view of the working head apparatus shown in FIG. It is a perspective view which shows the working head apparatus of FIG. 7 in a viewpoint from the opposite direction. It is a figure which shows the insertion / extraction method of the shaft body which the head moving apparatus shown in FIG. 2 has. It is an enlarged view of the conveying apparatus shown in FIG. It is a block diagram which shows the outline of the manufacturing work machine of FIG. It is a figure which shows the source code memorize | stored in the integrated control apparatus of FIG. It is the figure which showed the data format of the operation command. It is a perspective view which shows the manufacturing work machine which replaced the conveying apparatus and components supply apparatus which were shown in FIG. 4 with another conveying apparatus and another components supplying apparatus. It is a perspective view which shows the manufacturing work machine of FIG. 14 in a viewpoint from the opposite direction. It is an enlarged view of the conveying apparatus shown in FIG. It is the schematic which shows the some working element execution apparatus of the state with which the manufacturing work machine of FIG. 1 was equipped and the state removed from the base. It is a perspective view which shows the working head apparatus different from the working head apparatus shown in FIG. It is a perspective view which shows the LED illumination manufacturing system comprised with a some manufacturing working machine. It is an exploded view of the LED lighting manufactured by the LED lighting manufacturing system of FIG. It is a perspective view which shows the power module manufacturing system comprised with a some manufacturing working machine. It is an exploded view of the power module manufactured by the power module manufacturing system of FIG. It is a perspective view which shows the solar cell manufacturing system comprised with a some manufacturing working machine. It is an exploded view of the solar cell manufactured by the solar cell manufacturing system of FIG. 19 is a diagram illustrating a shaft body insertion / extraction method of a head moving device provided in each of a plurality of manufacturing work machines in the manufacturing work system of FIGS.

  Hereinafter, representative embodiments of the claimable invention will be described in detail with reference to the drawings. In addition to the following examples, the claimable invention is implemented in various modes including various modifications and improvements based on the knowledge of those skilled in the art, including the mode described in the above [Mode of Invention]. can do. Moreover, it is also possible to constitute the modification of the following Example using the technical matter described in the description of each item of [Aspect of the Invention].

<Configuration of manufacturing machine>
1 to 3 show a manufacturing machine 10 according to an embodiment. FIG. 1 is an external view of the manufacturing machine 10, and FIG. 2 is a perspective view of the manufacturing machine 10 with an upper cover 12 and a side cover 14, which are exterior panels, removed. It is a perspective view in the viewpoint opposite to the viewpoint in FIG. The manufacturing machine 10 is an assembling machine that performs assembling work as a manufacturing work. Specifically, a piece-like or block-like assembly part as a second part with respect to a plate-like base material as a first part. It is a work machine which performs the work which assembles. The manufacturing work machine 10 includes a plurality of work element execution apparatuses that execute each of a plurality of work elements constituting an assembly work performed by the manufacturing work machine 10, and each of the plurality of work element execution apparatuses is illustrated in FIG. 2 and 3 are disposed on a frame 20 which is a base of the manufacturing machine 10.

  4 and 5 are diagrams in which all of the plurality of work element execution apparatuses are arranged with respect to FIGS. As shown in FIGS. 4 and 5, the plurality of work element execution apparatuses are mainly used in the work of assembling the assembly parts to the base material, the transport device 22 for transporting the base material, the component supply device 24 for supplying the assembly parts. A first work head device 26 that is a main head device that performs work and a second work head device 28 that is an auxiliary head device that performs auxiliary work for the main work are configured. In addition to these devices, the plurality of work element execution devices include a head moving device 30 that moves the two work head devices 26 and 28, and an imaging device 32 that images the base material and assembly parts. Composed. In the following description, the direction in which the substrate is conveyed by the conveying device 22 is the left-right direction (X direction), and the direction perpendicular to the left-right direction on the horizontal plane is the front-rear direction (Y direction). A direction perpendicular to the front-rear direction is referred to as a vertical direction (Z direction).

  Incidentally, an assembly assembled by the manufacturing machine 10 will be briefly described with reference to FIG. 6. The assembly 40 includes a plate-like base material 42 and a plurality of block-like assembly parts (hereinafter referred to as a block-like assembly part). , Sometimes referred to as “block”) 44. Specifically, first, two rectangular blocks 44A are assembled to the base material 42 from the viewpoint from above. Two types of blocks 44B and 44C having a square shape and different heights are stacked on one of the two blocks 44A. Also, the other of the two blocks 44A has a block 44C stacked on top of it, and the blocks 44C are arranged.

  The first working head device 26 is a component holding head (also referred to as a carry head) 26 that holds the block 44 supplied from the component supply device 24 to carry it. As shown in FIG. 7, the component holding head 26 has a component suction nozzle 50 at the lower end, and is a component holding head 26 that can suck and hold the block 44 and can detach the component. More specifically, the suction nozzle 50 communicates with the negative pressure air and the positive pressure air passage via a positive / negative pressure supply device 52 (see FIG. 11), and sucks and holds the component with a negative pressure. Is configured to release the held parts. That is, the component holding head 26 that is a carry head functions as a work element execution device that executes the holding and detachment of components as one of a plurality of work elements.

  On the other hand, the second work head device 28 is a process head that executes auxiliary work elements necessary for assembling the block 44 carried using the component holding head 26 to the base material 42. More specifically, as shown in FIG. 8, the second working head device 28, which is the process head, includes a dispenser nozzle 54 provided at the lower end and a discharge device that discharges an arbitrary amount of adhesive from the dispenser nozzle 54. 58 (see FIG. 11). That is, the dispenser head 28 applies a plurality of adhesives, which is an operation performed prior to the operation of assembling the block 44 to the base material 42 or the operation of assembling another block 44 to the already assembled block 44. It functions as a work element execution device that executes as one of the work elements.

  The two working head devices 26 and 28 described above are moved by the head moving device 30 as described above. As shown in FIGS. 2 to 5, the head moving device 30 is an XYZ robot type moving device and is disposed at the upper end of the frame 20. More specifically, the head moving device 30 is configured to move the two working head devices 26 and 28 together along a horizontal plane, and the two working head devices 26 and 28 independently. Two vertical movement devices (Z-direction movement devices) 62 and 64 that move in the direction are provided. The planar moving device 60, which will be described in detail later, is a linear moving device that linearly moves the two work head devices 26 and 28 in the front-rear direction (Y direction) and the left-right direction (X direction). The X direction moving device 66 and the Y direction moving device 68 are configured to move the two work head devices 26 and 28 to arbitrary positions on the horizontal plane. As will be described in detail later, the vertical movement devices 62 and 64 are moved on the horizontal plane together with the work head devices 26 and 28 by the planar moving device 60, and at any position on the horizontal plane, the work head device 26. , 28 is lowered or raised from the lowered position. Hereinafter, the structure of the head moving device 30 will be described in detail.

  Both ends of the frame 20 in the left-right direction are a pair of wall portions 70 (also functioning as exterior panels) extending in the front-rear direction, and rails 72 are laid on the upper ends of each of the pair of wall portions 70. ing. A beam 74 is passed to the pair of rails 72, and the beam 74 moves along the pair of rails 72 and is movable in the front-rear direction. In one of the pair of rails 72, a guide rail 76 having a U-shaped cross section is provided in parallel with the rail 72 so as to open upward. A magnet 78 as a stator is fixed inside the guide rail 76. On the other hand, an electromagnetic coil 80 as a mover is fixed to the beam 74 at an end portion on the side where the guide rail 76 is provided so as to be within the guide rail 76. That is, the linear motor 82 is configured including the guide rail 76, the magnet 78, and the electromagnetic coil 80, and the beam 74 is translated in the front-rear direction by the linear motor 82.

  The beam 74 is provided with a ball screw mechanism 88. Specifically, the screw rod 90 formed with the thread groove is rotatably held by the beam 74 in a state extending in the left-right direction, and a nut 92 that holds the bearing ball is screwed into the thread groove of the screw rod 90. In this state, the beam 74 is held unrotatable. The screw rod 90 is rotated by an electromagnetic motor 94 fixed to the beam 74. That is, when the screw rod 90 is rotated by the electromagnetic motor 94, the nut 92 is moved in the left-right direction.

  The two vertical movement devices 62 and 64 are fixed to the nut 92 in parallel. Each of the two vertical movement devices 62 and 64 has a similar structure, and is constituted by a screw rod that is rotatably held in a state extending in the vertical direction and a nut screw that is screwed to the screw rod mechanism. 100, 101, electromagnetic motors 102, 103 for rotating the screw rod, and sliders 104, 105 fixed to the nut and sliding in the vertical direction. The component holding head 26 is held on the slider 104, and the dispenser head 28 is held on the slider 105. That is, the sliders 104 and 105 included in each of the two vertical movement devices 62 and 64 function as a head holding portion of the head moving device 30 that holds the work head devices 26 and 28.

  With the configuration as described above, the planar moving device 60 has an X-direction moving device 66 and a Y-direction moving device 68 that linearly move the work head devices 26 and 28 in two directions intersecting each other along the horizontal plane. It has become. The X-direction moving device 66 moves the working head devices 26 and 28 in the left-right direction by moving the sliders 104 and 105 as the head holding portions in the left-right direction by the ball screw mechanism 88 disposed in the beam 74. It is configured. Further, the Y-direction moving device 68 is configured to move the two work head devices 26 and 28 in the front-rear direction by translating the beam 74 in which the screw rod 90 is disposed by the linear motor 82 in the front-rear direction. ing.

  Incidentally, as shown in FIG. 9, an opening 106 is formed in the side cover 14 of the manufacturing machine 10. The opening 106 is one end of a screw rod 90 that is a shaft disposed in the beam 74 in a state where the beam 74 is positioned in the foremost position by the planar moving device 60 (position shown in FIG. 9). Is formed at the position facing each other. That is, when the screw rod 90 is exchanged due to some failure or the like, the screw rod 90 can be inserted / removed generally in the axial direction through the opening 106.

  FIG. 10 is a view in which the cover of the component holding head 26 is omitted. The component holding head 26 moves the component holder 108 held by the slider 104 and the component holder 108, which is a main device including the suction nozzle 50 that is the main work performed by the component holding head 26. A holding device moving device 109 which is a moving device is included. Specifically, the retainer moving device 109 includes a ball screw mechanism 112 including a screw rod 110 that extends in the vertical direction and a nut 111 that is screwed to the screw rod 110, and an electromagnetic that rotates the screw rod 110. The motor 114 and the main device holding part 116 which is fixed to the nut 111 and holds the component holder 108 are included. That is, as shown in FIG. 10B, the holder moving device 109 can move the component holder 108 in the vertical direction with respect to the slider 104 to which the holder moving device 109 is attached. is there. Therefore, by combining with the vertical movement device 62 of the head movement device 30 described above, the component holder 108 can be moved in two stages in the vertical direction. In the component holding head 26 having such a structure, the vertical movement range of the component holder 108 is increased while downsizing each device and the vertical movement device 62 in the vertical dimension. That is, even when the vertical dimension of the assembly part is large or when the vertical dimension of the assembly is large, the assembly work can be easily performed.

  The component holder 108 includes a nozzle rotating device 119 that includes an electromagnetic motor 118 that rotates the suction nozzle 50. That is, the component holding head 26 can adjust the deviation of the posture of the component held by the component holding head 26, specifically, the rotational deviation around the axis extending in the vertical direction.

  The imaging device 32 includes a base camera 120 for imaging the block 44 held by the component holding head 26 (see FIGS. 2 to 5), and a head camera 122 for imaging the substrate 42 on the transport device 22 (see FIG. 2 to FIG. 5). 2 to 5, 7, and 8). The base camera 120 is disposed on the frame 20 between the transport device 22 and the component supply device 24, and can capture an image above itself. As will be described in detail later, the component holding head 26 holding the assembly component 44 is moved onto the base camera 120 for imaging, and the component holding head 26 is based on the imaging data. The position shift and the posture shift (rotation shift) of the component 44 with respect to the are recognized. On the other hand, the head camera 122 is held by the slider 104 that holds the component holding head 26. More specifically, a bracket 124 that protrudes rearward is provided at the lower end of the slider 104 on the component holding head 26 side, and the head camera 122 is attached to the bracket 124 so as to extend rearward. The lower part of the camera can be imaged. As will be described in detail later, the head camera 122 can image the base material 42 on the transport device 22 and the assembly component 44 on the component supply device 24. Based on the imaging data, the head camera 122 A positional shift, a positional shift, a position before the component 44 is held, and the like are recognized. The head camera 122 is configured to be moved in the vertical direction together with the component holding head 26 by the vertical movement device 62. That is, since the distance between the imaging position by the head camera 122 and the component holding position by the component holding head 26 is relatively small, the error during assembly can be reduced and the assembly accuracy can be maintained relatively high. It has become. Incidentally, the base camera 120 and the head camera 122 can be considered as imaging devices, respectively, and the manufacturing machine 10 can be considered as including two imaging devices.

  In FIG. 11, the perspective view of the conveying apparatus 22 is shown. FIGS. 11A and 11B are perspective views from the viewpoints opposite to each other. The transport device 22 includes a belt circulator 128, and the base material 42 placed on the pair of conveyor belts 130 is transported in the left-right direction by rotating the pair of conveyor belts 130 by the transport motor 132. It is said that. In addition, although detailed description is abbreviate | omitted, one of a pair of conveyor belts 130 is moved to the front-back direction by the electromagnetic motor 134, and can respond | correspond to the base material of various width | variety. Moreover, the conveying apparatus 22 has the raising / lowering apparatus 136, By raising the raising / lowering base 138, between the raising / lowering base 138 and the collar part 139 provided above each of a pair of conveyor belt 130, it is. In addition, the base material 42 can be sandwiched and fixed. The transport device 22 includes, as one of the plurality of work elements, carrying the base material 42 into a specific position, fixing the base material 42 at the specific position, and carrying out the base 42 with the block 44 assembled thereto. It functions as a work element execution device to be executed.

  The component supply device 24 is a tray unit type (tray type) supply device and can supply components to the storage unit 142 in which a plurality of component trays 140 on which the blocks 44 are placed and the component holding head 28 are stored. A tray moving device 144 that moves one of the plurality of component trays 140 from the storage unit 142 is provided at a position. That is, the component supply device 24 functions as a work element execution device that executes supply of a component as one of a plurality of work elements. In each of the plurality of component trays 140, a block 44 necessary for completing one assembly 40 shown in FIG. 6 is placed at a predetermined position in the tray 140, and the component supply is performed. The apparatus 24 is configured such that after the assembly 40 is completed and unloaded, and the next base material 40 is loaded, the empty component tray is replaced with a new component tray.

  The manufacturing machine 10 includes six work element execution devices, that is, a conveyance device 22, a component supply device 24, a component holding head 26, a dispenser head 28, a head moving device 30, and an imaging device 32. Each of these six devices is provided with a separate control device, and is configured such that one or more actuating devices for executing the work elements of its own are controlled by the individual control device. .

  Specifically, as shown in FIG. 12, the head moving device 30 operates with the X-direction moving device 66, the Y-direction moving device 68 and the two Z-direction moving devices 62 and 64 that are operating devices, that is, with them. In order to control the operation of the four motors 82, 94, 102, and 103, a moving device control device 160 that is an individual control device is provided. The head moving device 30 has four servo amplifiers 162, 164, 166, and 167 corresponding to the four motors 82, 94, 102, and 103. By transmitting a control signal to 164, 166, 167, the operation of the X direction moving device 66, the Y direction moving device 68 and the two Z direction moving devices 62, 64 is controlled.

  The component holding head 26 is a component that is an individual control device for controlling the operation of the two electromagnetic motors 114 and 118, that is, the operation of the positive / negative pressure supply device 52, the holder moving device 109, and the nozzle rotating device 118. A holding head controller 170 is provided. The component holding head 26 includes a drive circuit 171 of the positive / negative pressure supply device 52 and two servo amplifiers 172 and 173 corresponding to the two electromagnetic motors 114 and 118. By transmitting a control signal to the drive circuit 171 and the servo amplifiers 172 and 173, the operation of the positive / negative pressure supply device 52, the holder moving device 109 and the nozzle rotating device 118 is controlled. The dispenser head 28 includes a dispenser head control device 174 that is an individual control device in order to control the operation of the discharge device 58. The dispenser head 28 has a drive circuit 176 for the discharge device 58, and the dispenser head control device 174 controls the operation of the discharge device 58 by transmitting a control signal to the drive circuit 176. .

  The component supply device 24 includes a supply device control device 178 that is an individual control device in order to control the operation of the tray moving device 144. In addition, the component supply device 24 includes a motor drive circuit 180 that is a drive source of the tray moving device 144, and the supply device control device 178 transmits a control signal to the drive circuit 180 so that the tray moving device 144 can be controlled. The structure controls the operation. The conveyance device 22 includes a conveyance device control device 182 that is an individual control device in order to control the operation of the belt circulation device 128 and the lifting device 136. Further, the transport device 22 includes a drive circuit 184 of the transport motor 132 included in the belt circulator 128 and an electromagnetic motor drive source 186 that is a drive source of the elevating device 136, and the transport device control device 182 is driven. By transmitting a control signal to the circuits 184 and 186, the operation of the belt circulating device 128 and the lifting device 136 is controlled.

  The imaging device 32 includes an imaging device controller 190 that is an individual control device in order to transmit a control signal for executing imaging by the base camera 120 and the head camera 122 and to process image data obtained by imaging. Have. The imaging device controller 190 is provided in a sub general control device 192 described later, but is independent in the sub general control device 192 and is connected to the capture board 196 of the imaging device 32 via the bus 194. Yes. For this reason, the imaging device controller 190 is handled as a component of the imaging device 32, not as a component of the sub integrated control device 192.

  In addition, the manufacturing work machine 10 controls the transport device 22, the component supply device 24, the component holding head 26, the dispenser head 28, the head moving device 30, and the imaging device 32 that are the six work element execution devices. The main control device 200 and the sub control device 192 are provided with a general control device. The main overall control device 200 is a control device for mainly transmitting operation commands to the individual control devices 160, 170, 174, 178, 182, and 190 of the devices 22, 24, 26, 28, 30, and 32. The individual control devices 160, 170, 174, 178, 182, and 190 are connected via the repeater hub 202 by the same type of serial communication cable 204 for transmitting an operation command. The sub-general control device 192 includes a sub-general controller 206, and the sub-general controller 206 receives a source program that is a basis for an operation command to each individual control device, that is, a specific manufacturing operation. Source data for execution is stored. The stored source data is obtained by encoding the operations of the six work element execution devices. The sub general controller 206 is configured to convert the source data into an operation command in a specific programming language and transmit the converted operation command to the main general control device 200. The sub general controller 206 and the main general control device 200 are connected by a LAN cable 210 via a hub 208, and an operation command converted by the sub general controller 206 is transmitted via the LAN cable 210 to the main general control device. 200 is transmitted. One end of six LAN cables 210 of the same type as the LAN cable 210 is connected to the hub 208, and the other end of each of the six LAN cables 210 is individually controlled by each work element execution device. Connected to the device. The serial communication cable 204 and the LAN cable 210 are each composed of a wiring portion and a connector portion. However, the wiring portion and the connector portion may be general-purpose products, respectively. It may be developed exclusively.

  Further, as shown in FIG. 1, the manufacturing work machine 10 is provided with a touch panel type display 220 for inputting and outputting information related to the operation of the manufacturing work machine 10, and is connected to the main overall control device 200 and the sub overall control. It is connected to the controller 206. Specifically, the display 220 is connected to the main overall control device 200 via the hub 208 via the LAN cable 210 of the same type as the LAN cable 210, and the sub overall controller 206 via the serial communication cable 222 and the RGB analog cable 224. It is connected to the. The production work machine 10 is further provided with an emergency stop switch 226, which is connected to the main overall control device 200 and the individual control devices of the respective work element execution devices via an I / O cable 230 via a terminal relay 228. Yes. A plurality of switches 232 such as a main power switch and a start switch of the manufacturing machine 10, and a plurality of indicator lights 234 such as an indicator lamp indicating that the apparatus is being started and an indicator lamp indicating that it is operable are provided. The main integrated control device 200 is connected.

<Operation of manufacturing machine>
The manufacturing work machine 10 executes the work of assembling the component 44 on the base material 40 by the six work element execution devices executing each work according to the source data stored in the sub-general controller 206. It is like that. Specifically, the source data relating to the assembly work is first converted into a plurality of operation commands as shown in FIG. The plurality of operation commands are transmitted from the sub general controller 206 to the main general control device 200 via the LAN cable 210, and the plurality of operation commands are sequentially executed by the main general control device 200 by executing six work elements. It is transmitted via serial communication cable 204 to each individual control device of the device. The operation command transmitted from the main overall control device 200 is transmitted to each individual control device of all the work element execution devices without defining the transmission destination, but the operation command should be actuated by the operation command. Since the work element execution device is shown, the individual control device of the work element execution device to be operated receives the operation command corresponding to itself and operates according to the operation command. That is, the main overall control device 200 includes the overall interface unit 240 (see FIG. 12) for transmitting an operation command to each of the plurality of work element execution devices according to one protocol, Each individual control device of the element execution device is provided with an individual interface unit 242 for receiving the operation command transmitted from the main overall control device 200 according to the above-described protocol 1. In FIG. 12, the individual interface unit 242 is shown only in the mobile device control device 160, but the other individual control devices 170, 174, 178, and 182 are similarly provided with the individual interface unit 242. It has become a thing. Hereinafter, the operation of the work element execution apparatus according to the operation command will be specifically described.

  First, an operation command (i) relating to the loading of the base material 42 is transmitted by the main overall control device 200. The transport device 22 that has received the operation command (i) operates the transport motor 132 to transport the base material 42 to a specific position, and then operates the lifting device 136 to fix the base material 42 at the specific position. . Next, an operation command (ii) relating to the movement of the head camera 122 for imaging the entire substrate 42 is transmitted by the main overall control device 200. The head moving device 30 that has received the operation command (ii) operates the two linear moving devices of the planar moving device 60 to move the head camera 122 to the imaging position of the substrate 42. At this time, the vertical movement device 62 is not operated, and the head camera 122 is positioned at the uppermost position. Subsequently, an operation command (iii) relating to imaging of the base material 42 is transmitted by the main overall control device 200. The imaging device 32 that has received the operation command (iii) turns on the illumination of the head camera 122 and images the substrate 42 by the head camera 122, and an image as shown in FIG. 14A obtained by the imaging. The data is processed to obtain position information (including the rotation posture) of the base material 42. Note that the positional information of the base material 42 acquired by the imaging is transmitted from the imaging device controller 190 to the main overall control device 200. In addition, after the operation command (iii), the main overall control device 200 transmits an operation command (iv) related to the supply of the assembly component 44. Receiving the operation command (iv), the component supply device 24 operates the tray moving device 144 to set the component tray 140 at a supplyable position.

  Next, the main overall control device 200 transmits an operation command (v) related to the movement of the head camera for imaging the assembly position of the block 44A, which is a part to be assembled first. The head moving device 30 that has received the operation command (v) operates the two linear moving devices of the planar moving device 60 to move the head camera 122 to above the assembly position, and also moves the vertical moving device 62. Is operated to lower the head camera 122 to a height at which the assembling position can be enlarged and captured. Thereafter, according to the operation command (vi) relating to the imaging of the assembly position, the assembly position of the base material 42 as shown in FIG. 14A is imaged, and the image data obtained by the imaging is processed to obtain the assembly position. The position information (including the rotational position) is acquired.

  Next, an operation command (vii) relating to the movement of the dispenser head 28 is transmitted by the main overall control device 200 in order to apply the adhesive, which is an operation executed prior to the operation of assembling the block 44. The head moving device 30 that has received the operation command (vii) moves the dispenser head 28 to a position where the block 44A, which is an assembly component, is assembled based on the positional information of the base material 42 received together with the operation command. The vertical movement device 64 is operated and lowered to a height suitable for applying the adhesive to the substrate 42. Subsequently, the dispenser head 28 that has received the operation command (viii) relating to the application of the adhesive releases the adhesive and applies the adhesive to the substrate 42.

Next, according to the operation command (ix) relating to the movement of the component holding head 26 to the component supply position, the head moving device 30 causes the component holding head 26 to operate above the component tray 140 accurately by operating the planar moving device 60. to its tray 140 is moved above the placed on those blocks 44A, is lowered to the vertical direction moving device 62 is operated to the upper distance L ₁ which is set from the component tray 140 positions. Subsequently, in response to the operation command (x) related to holding the component 44A, the component holding head 26 operates the holder moving device 109 to lower the component holder 108 until the suction nozzle 50 contacts the block 44A. The supply device 54 is operated to hold the block 44A.

Incidentally, the component holder 108 by holder moving device 109 when lowering until it abuts against the block 44A, a distance L ₁ to the component tray 140, based on the distance obtained by actually lowering the component holder 108, The height H _A of the block 44A is recognized. As a result, even if the part has a different height, such as the block 44B, when the part is lowered to the assembly position of the base member 42, the height of the part is taken into consideration to the base member 42 of the part 44. It is possible to control the holder moving device 109 so that a large load is not applied to the component 44 and the base material 42 at the time of contact.

  Next, an operation command (xi) relating to the movement of the component holding head 26 for imaging the component 44A held by the component holding head 26 is transmitted by the main overall control device 200. In response to the operation command (xi), the head moving device 30 moves the component holding head 26 holding the block 44 </ b> A to above the base camera 120. Subsequently, the block 44A is imaged by the base camera 120 in response to the operation command (xii), and positional information of the block 44A with respect to the component holding head 26, specifically, the front-rear direction and the left-right direction of the block 44A with respect to the suction nozzle 50 The position in the direction and the rotation position (rotation angle around the axis extending in the vertical direction) are acquired.

After the above imaging, according to the operation command (xiii), the head moving device 30 moves the component holding head 26 to the assembly position of the base material 42 by operating the planar moving device 60, and the vertical moving device. The surface to be assembled by actuating 62 (FIG. 14B is the upper surface of the block 44A because it is for assembling the block 44B. In the case of assembling the first block 44A, distance L ₁ which is set from 42 which is the upper surface of) lowering until the upper position. Subsequently, according to the operation command (xiv), the component holding head 26 operates the rotation device, adjusts the rotation position of the block 44A based on the position information (rotation position) received together with the operation command (xiv), and then Then, the holder moving device 109 is operated, and the component holder 108 is lowered to an appropriate height based on the height H _A of the block 44A, and the block 44A is bonded to the base member 42. Then, the component holding head 26 operates the positive / negative pressure supply device 54 to release the block 44A. Thus, the assembly of one block 44 is completed. Thereafter, operation commands similar to the operation commands (x) to (xiv) are repeatedly transmitted, and the work of assembling the plurality of blocks 44A, 44B, 44C is repeatedly performed. Then, after the assembly of all the blocks 44 is completed, the assembly 40 is carried out by the transport device 22.

  In this manufacturing work machine 10, since the head moving device 30 can move the two work head devices 26 and 28 independently in the vertical direction, the height as shown in FIG. When one of the two work head devices performs work on a work target having different parts, the other does not become an obstacle. Therefore, the manufacturing work machine 10 can perform various work to be performed on various work objects, that is, the manufacturing work machine 10 is highly versatile. It is.

<Replacement of work element execution device>
FIGS. 2 and 3 show drawings in which the transport device 22 and the component supply device 24 are removed, but they can be attached to and detached from the frame 20 with one touch. Further, in place of the transfer device 22 and the component supply device 24, another transfer device and the component supply device can be attached at the position where the transfer device 22 and the component supply device 24 are attached. . FIGS. 15 and 16 show the manufacturing machine 10 in which the transport device 22 and the component supply device 24 are replaced with a carrier 260 which is a lift-and-carry type transport device and a tape feeder 262 which is a feeder-type component supply device. ing. FIG. 17 shows a perspective view of the carrier 260. Although detailed explanation is omitted, the carrier 260 has a structure in which the work table 274 is lifted by raising the holding table 272 by the lifting device 270 and moved in the transport direction by the transport device 276 in that state. Yes. Incidentally, although not shown in the figure, a convex portion based on a front corner 280 (see FIGS. 1 and 15) of the frame 20 is formed on the frame 20, and the concave portions formed on the transport devices 22 and 260 are fitted. By combining, it can be attached so that the position of the conveying device with respect to the frame 20 does not shift.

  Further, in place of the transport device 22, another type of transport device, for example, a module type double conveyor 282 (see FIG. 18), a single conveyor, a conveyor with a lifting function or the like can be attached. . In addition, a transport device provided with a work object lower processing device that is provided inside itself and performs processing such as laser processing, UV irradiation, hot air blowing, etc., on a work object positioned above is provided. It is also possible to attach. Furthermore, instead of the component supply device 24, for example, a ball feeder, a screw supply device, a stacking unit, or the like can be attached.

  The component holding head 26 and the dispenser head 28 can be attached to and detached from the sliders 104 and 105 which are head holding portions of the head moving device 30 with one touch. In addition, in place of the component holding head 26 and the dispenser head 28, another work head device can be attached at the position where the component holding head 26 or the dispenser head 28 is attached. Specifically, for example, as shown in FIG. 18, a high-frequency welder 300 that performs high-frequency melt bonding processing on a work object, and a laser that performs laser processing on the work object. Generating device 302, UV irradiation device 304 for performing processing by UV irradiation on the work object, hot air blowing device 306 for performing heat treatment by blowing hot air to the work object, screw tightening processing There are two types of screw tightening devices 308 that execute the above-mentioned, screw mounting / screw tightening device 310 that executes the screw tightening process while holding and releasing the screws and holding the screws, and two dispenser nozzles Double dispenser device 312 for releasing the auxiliary agent, holding and releasing other members, and rotating the position holding the member to hold the member Member holding device 314 to perform the adjustment, the solder paste printing apparatus 316 or the like, as the process heads are can be attached in place of the dispenser head 28. Instead of the component holding head 26, a component moving head for moving the component in the left-right direction or the front-rear direction may be attached separately from the other carry head, for example, the head moving device 30. Furthermore, depending on the work to be performed by the manufacturing machine, a process head as described above may be attached instead of the component holding head 26 which is a carry head.

  Therefore, for example, when it becomes necessary to manufacture a new product and it becomes necessary to perform work for fixing a part to a workpiece with a screw instead of assembling the part to the base material. Instead of changing the manufacturing machine itself, the parts supply device 24 is changed to one that can supply the parts and screws to be assembled, and the dispenser head 28 is changed to the screw mounting / screw fastening device 310. The work can be changed. In the manufacturing machine having such a configuration, for example, a component holding head 26 that is a carry head is used to hold a component, and in that state, a screw mounting / screw tightening device 310 that is a process head is used to perform a screw tightening operation. Is possible. In other words, the manufacturing machine 10 can work in cooperation with two work head devices, and it is also possible for a human to work as if a single work object is handled with both hands. It is.

  Further, instead of the head moving device 30, other types of moving devices, specifically, for example, articulated robot type moving devices or the like can be attached. Further, the head moving device 30 is configured such that the planar moving device moves the two work head devices 26 and 28 together, but moves the two work head devices 26 and 28 independently. It is also possible to replace it with one having such a configuration. The base camera 120 and the head camera 122 can also be replaced with other cameras.

  Each of the plurality of work element execution devices that can be attached instead of the six work element execution devices such as the conveyance device 22 and the component holding head 26 constituting the manufacturing machine 10 is the same as the six work element execution devices. In addition, an individual control device having an individual interface unit 242 for controlling its own operation is provided. Even if the work element execution device constituting the manufacturing work machine 10 is changed to another work element execution device, the individual control device that the other work element execution device has is transmitted from the main overall control device 200. Recognizing the operation command, it is possible to operate the operation device that it has. Therefore, for example, as described above, even if the dispenser head 28 is changed to the screw mounting / screw tightening device 310, the main overall control device 200 may simply change the content of the operation command, and the operation command may be changed to the above-described operation command. According to the one protocol, it can be transmitted to the individual control device of the screw mounting / screw tightening device 280.

<Manufacturing work system composed of a plurality of manufacturing machines>
Although the manufacturing work machine 10 alone can perform relatively few manufacturing processes, the same manufacturing work machine as the manufacturing work machine 10, a plurality of manufacturing work machines or the like in which the work element execution device of the manufacturing work machine 10 is changed, and the like. Arranges and sequentially executes the manufacturing work by each of the plurality of manufacturing work machines with respect to the work target while transporting the work object from the manufacturing work machine arranged on the upstream side to the manufacturing work machine arranged on the downstream side. By configuring such a manufacturing work system, it is possible to perform a relatively large number of manufacturing processes. That is, it becomes possible to manufacture products, parts and the like that are somewhat complicated. In the present specification, an LED illumination manufacturing system, a power module manufacturing system, and a solar cell manufacturing system are adopted as the manufacturing operation system configured as described above, and these systems will be described below.

i) LED Lighting Manufacturing System FIG. 18 is a perspective view of the LED lighting manufacturing system 350, and FIG. 19 is an exploded view of the LED lighting 352 assembled by the LED lighting manufacturing system 350. As shown in FIG. 19, the LED illumination 352 includes a bottomed cylindrical electrode socket 354, an electrode 356 provided in the electrode socket 354, and a cylindrical case 358 fitted to the upper end of the electrode socket 354. A base material 360 with an electrode provided inside the case 358, a heat sink 362 fixed to the upper end of the case 358 with an adhesive, and an LED substrate 364 with an electrode disposed on the upper end surface of the heat sink 362. And a screw 366 for fixing the LED substrate 364 to the heat sink 362 and a hemispherical cover 368 fixed to the upper end of the heat sink 362 with an adhesive.

  As shown in FIG. 18, the LED illumination manufacturing system 350 is configured by eight manufacturing work machines, and these eight manufacturing work machines are arranged on the most upstream side (the leftmost side). The first manufacturing work machine 370, the second manufacturing work machine 372, the third manufacturing work machine 374, the fourth manufacturing work machine 376, the fifth manufacturing work machine 378, the sixth manufacturing work machine 380, and the seventh manufacturing work machine in this order. 382 and an eighth manufacturing work machine 384. The first manufacturing work machine 370, the second manufacturing work machine 372, the third manufacturing work machine 374, the fourth manufacturing work machine 376, and the fifth manufacturing work machine 378 are configured such that the transport device 22 of the manufacturing work machine 10 is a module type double. The conveyor 282 is changed. The sixth production work machine 380 and the eighth production work machine 384 are obtained by changing the transport device 22 of the production work machine 10 to a double conveyor 282 and changing the dispenser head 28 to a hot air blower 306. The seventh manufacturing work machine 382 changes the conveying device 22 of the manufacturing work machine 10 to the double conveyor 282, the component holding head 26 to the screw mounting / screw tightening device 310, and the component supply device 24 to the screw supply device 386. It has been changed.

  The first manufacturing work machine 370 has a component holding head 26, a component supply device 24, a double conveyor 282, a head moving device 30, and an imaging device 32 (all manufacturing work machines described below are used as work element execution devices). Since the head moving device 30 and the imaging device 32 described above are provided, description thereof is omitted), and the electrode socket 354 as a work object is placed at a specific position on the double conveyor 282. Manufacturing operations to be performed. In the first manufacturing work machine 370, an operation command for supplying the tray on which the electrode socket 354 is mounted, an operation command for moving the component holding head 26 to the supply position of the electrode socket 354, and the tray are mounted on the tray. An operation command for holding the electrode socket 354, an operation command for moving the component holding head 26 holding the electrode socket 354 onto the base camera 120, and an electrode socket 354 held by the component holding head 26 in the base camera 120 , An operation command for acquiring information on the holding state of the electrode socket 354, an operation command for moving the component holding head 26 to a specific position on the double conveyor 282, and a specific position on the double conveyor 282 Operation command to detach the electrode socket 354, placed on the double conveyor 282 Operation command for transporting the electrode socket 354 are sequentially transmitted. Each work element execution device 242 or the like executes each work element in accordance with each operation command, whereby the electrode socket 354 placed on the double conveyor 282 is conveyed to the second manufacturing work machine 372. Regarding the following operation commands of the manufacturing machine, the operation commands to the image pickup device 32, the head moving device 30, and the double conveyor 282 are substantially the same in each manufacturing operation, and therefore the description of these operation commands is omitted. To do.

  The second manufacturing work machine 372 includes a component holding head 26, a component supply device 24, and a double conveyor 282 as work element execution devices, and performs a manufacturing operation of mounting the electrode 356 on an electrode socket 354 as a work object. is there. In the second manufacturing work machine 372, an operation command for supplying the tray on which the electrode 356 is placed, an operation command for holding the electrode 356 placed on the tray, and the electrode 356 inside the electrode socket 354 Operation commands for detachment are sequentially transmitted and each work element is executed, so that the electrode socket 354 with the electrode 356 mounted thereon is conveyed to the third manufacturing work machine 374.

  The third manufacturing machine 374 includes a component holding head 26, a component supply device 24, and a double conveyor 282 as work element execution devices, and performs a manufacturing operation of mounting the case 358 in the electrode socket 354 to which the electrode 356 is mounted. Is. The fourth manufacturing work machine 376 includes the component holding head 26, the component supply device 24, and the double conveyor 282 as work element execution devices, and performs a manufacturing operation of mounting the base material 360 in the case 358. Since the operation commands of the third manufacturing work machine 374 and the fourth manufacturing work machine 376 are similar to the operation commands of the second manufacturing work machine 372, description thereof is omitted. Incidentally, the dispenser heads 28 of the first manufacturing work machine 370, the second manufacturing work machine 372, the third manufacturing work machine 374, and the fourth manufacturing work machine 376 do not operate in the manufacturing work of the LED lighting 352.

  The fifth manufacturing work machine 378 includes a component holding head 26, a dispenser head 28, a component supply device 24, and a double conveyor 282 as work element execution devices, and a manufacturing operation in which a heat sink 362 is fixed to an upper end portion of a case 358 with an adhesive. Is to do. In the fifth manufacturing machine 378, the operation command for applying the adhesive to the upper end of the case 358, the operation command for supplying the tray on which the heat sink 362 is mounted, and the heat sink 362 mounted on the tray are provided. An operation command for holding and an operation command for releasing the heat sink 362 at the upper end of the case 358 to which the adhesive is applied are sequentially transmitted, and each work element is executed, whereby the adhesive of the heat sink 362 The LED lighting 352 for which the fixing work by is completed is conveyed to the sixth manufacturing work machine 380. That is, in the fifth manufacturing work machine 378, the component holding head 26 is a carry head that is held to assemble the heat sink 362, and functions as a main head device that performs the main work in the work of assembling the heat sink 362. The dispenser head 28 is a process head that applies an adhesive, and functions as an auxiliary head device that executes the application of the adhesive as an auxiliary operation to the main operation prior to the operation of assembling the heat sink 362. To do.

  The sixth manufacturing work machine 380 includes a component holding head 26, a hot air blowing head 306, a component supply device 24, and a double conveyor 282 as work element execution devices, and dries the adhesive applied in the fifth manufacturing work machine 378. In addition, a manufacturing operation for placing the LED substrate 364 on the upper end surface of the heat sink 362 is performed. In the sixth manufacturing work machine 380, an operation command for drying the adhesive that bonds the case 358 and the heat sink 362, an operation command for supplying the tray on which the LED board 364 is mounted, and an operation command placed on the tray The operation command for holding the LED substrate 364 and the operation command for releasing the LED substrate 364 at the upper end surface of the heat sink 362 are sequentially transmitted, and each work element is executed, so that the drying operation and the LED substrate are performed. The LED illumination 352 for which the placement work 364 is completed is conveyed to the seventh manufacturing work machine 382. That is, in the sixth manufacturing work machine 380, the component holding head 26 is a carry head that holds the LED substrate 364 for mounting, and performs a main operation in the operation of mounting the LED substrate 364 on the heat sink 362. Functions as the main head device. The hot air blower 306 is a process head that dries the adhesive, and sufficiently fixes the heat sink 362 to the case 358 prior to the work of placing the LED board 364 on the heat sink 362. In addition, it functions as an auxiliary head device that executes drying of the adhesive as an auxiliary operation to the main operation.

  The seventh manufacturing work machine 382 includes a screw mounting / screw tightening head 310, a dispenser head 28, a screw supply device 386, and a double conveyor 282. The LED board 364 is fixed to the heat sink 362 by screws 366, and an eighth manufacturing work machine. The manufacturing operation of applying an adhesive for fixing the cover 268 attached at 384 to the heat sink 362 is performed. In the seventh manufacturing work machine 382, an operation command for supplying the screw 366, an operation command for holding the screw 366 supplied by the screw supply device 386, an operation command for executing screw tightening, and the screw 366 are provided. An operation command for detachment and an operation command for applying adhesive to the upper end of the heat sink 362 are sequentially transmitted, and each work element is executed to complete the screw tightening operation and the adhesive application operation. The illumination 352 is conveyed to the eighth manufacturing work machine 384. That is, in the seventh manufacturing work machine 382, the screw mounting / screw tightening device 310 is a process head that fastens the LED substrate 364 to the heat sink 362 with screws, and the dispenser head 28 is a process head that applies adhesive. It is.

  Incidentally, the seventh manufacturing work machine 382 may be divided into two manufacturing work machines. In that case, one of the manufacturing work machines is provided with the component holding head 26 and the screw mounting / screw tightening device 310 as work head devices, and the LED substrate 364 executed in the sixth manufacturing work machine 380 is placed thereon. A work and a work for fastening the LED substrate 364 and the heat sink 362, and a work for holding the component holding head 26 and the dispenser head 28 as work head devices on the other of them and applying an adhesive; The cover carrying and fixing work performed in the eighth manufacturing work machine 384 may be executed. In such a configuration, in the one manufacturing work machine described above, the component holding head 26 is a carry head that holds the LED substrate 364 for assembly, and the main head that performs the main operation in the operation of assembling the LED substrate 364 Functions as a device. The screw mounting / screw fastening device 310 is a process head for fastening the LED board 364 and the heat sink 362. After the work of placing the cover 368 at the assembly position, the screw fastening / screw fastening device 310 is used for the above main work. It functions as an auxiliary head device that executes as an auxiliary work.

  Further, in the manufacturing machine described above, when the LED board 364 and the heat sink 362 are fastened by the screw mounting / screw fastening device 310, the component holding head 26 is configured to hold the LED board 364 at the assembly position. Is possible. Therefore, if the main work of the manufacturing machine is considered as a fastening work between the LED substrate 364 and the heat sink 362, the screw mounting / screw fastening device 310 as a process head functions as a main head device, and the component holding head 26 It can also be considered to function as an auxiliary head device that performs an auxiliary work for the fastening work. Therefore, the manufacturing work machine configured as described above can work in cooperation with the two work head devices.

  The eighth manufacturing machine 384 includes a component holding head 26, a hot air blowing head 306, a component supply device 24, and a double conveyor 282, and a cover 368 is mounted at a position where the adhesive is applied in the seventh manufacturing machine 382. At the same time, a manufacturing operation for drying the adhesive is performed. In the eighth manufacturing machine 384, an operation command for supplying the tray on which the cover 368 is placed, an operation command for holding the cover 368 placed on the tray, and the cover 368 as an adhesive on the heat sink 362 The operation command for carrying to the position where the coating is applied, the operation command for drying the adhesive, and the operation command for removing the cover 368 are sequentially transmitted, and each work element is executed to complete the operation. The LED illumination 352 is sent out from the eighth manufacturing work machine 384. That is, in the eighth manufacturing work machine 384, the component holding head 26 is a carry head that is held to assemble the cover 368, and functions as a main head device that performs the main work in the work of assembling the cover 368. The hot air blower 306 is a process head that dries the adhesive, and after the operation of assembling the cover 368, the auxiliary head device executes the drying of the adhesive as an auxiliary operation to the main operation. Function as. When the adhesive is dried by the hot air blower 306, the component holding head 26 is configured to hold the cover 368 at the assembly position. Therefore, assuming that the main work of the eighth manufacturing work machine 384 is drying of the adhesive, the hot air blower 306 as a process head functions as the main head device, and the component holding head 26 is the work of drying the adhesive. It can also be considered that it functions as an auxiliary head device that performs auxiliary work on the above. Therefore, in the eighth manufacturing work machine 384, the two work head devices work together.

ii) Power Module Manufacturing System FIG. 20 is a perspective view of the power module manufacturing system 400, and FIG. 21 is an exploded view of the power module 402 assembled by the power module manufacturing system 400. As shown in FIG. 21, the power module 402 includes a base plate 414, an insulating substrate 416 to be soldered on the base plate 414, and four bushes that are fitted into holes formed at four corners of the base plate 414. 418, a case 420 fixed on the base plate 414 by the four bushes 418, a plurality of pin terminals 422 mounted in the case 420, an electrode 424 mounted in the case 420, and an upper portion of the case 420 It is comprised by the cover member 426 to cover and the seal | sticker 428 affixed on the case 420 side surface.

  As shown in FIG. 20, the power module manufacturing system 400 includes seven manufacturing work machines 430 to 442 and a wire bonding machine 444, and these seven manufacturing work machines 430 to 442 are on the most upstream side ( The first production work machine 430, the second production work machine 432, the third production work machine 434, the fourth production work machine 436, the fifth production work machine 438, the first production work machine 430, in order from the production work machine arranged on the leftmost side). 6 manufacturing working machines 440 and seventh manufacturing working machine 442. Incidentally, although the wire bonding machine 444 is disposed between the fourth manufacturing work machine 436 and the fifth manufacturing work machine 438, it is indicated by a two-dot chain line because it is not related to the present invention.

  The first manufacturing work machine 430 is obtained by changing the conveying device 22 of the manufacturing work machine 10 to a module type double conveyor 282 and changing the component supply device 24 to a bush supply device 450 that supplies a bush 418. The second manufacturing work machine 432, the third manufacturing work machine 434, and the fourth manufacturing work machine 436 are obtained by changing the transport device 22 of the manufacturing work machine 10 to a double conveyor 282. The fifth manufacturing work machine 438 is obtained by changing the transport device 22 of the manufacturing work machine 10 to a double conveyor 282, changing the dispenser head 28 to a double dispenser device 312, and removing the component supply device 24. The sixth production work machine 440 is obtained by changing the conveying device 22 of the production work machine 10 to a double conveyor 282 and changing the component supply device 24 to a lid member supply device 452 for supplying a lid member 426. The seventh manufacturing work machine 442 is obtained by changing the transport device 22 of the manufacturing work machine 10 to a double conveyor 282 and changing the component supply device 24 to a tape feeder 262.

  In the power module manufacturing system 400, the insulating substrate 416 is soldered to the base plate 414 in advance, and the base plate 414 with the insulating substrate 416 as a work object is sent to the first manufacturing work machine 430. The first manufacturing work machine 430 performs manufacturing work by attaching four bushes 418 to the four corners of the base plate 414 with the insulating substrate 416, and the second manufacturing work machine 432 is formed at the four corners of the case 420. The manufacturing operation for mounting the case 420 to the base plate 414 is performed so that the four bushes 418 fit into the holes. The third manufacturing work machine 434 performs manufacturing work for mounting a plurality of pin terminals 422 inside the case 420, and the fourth manufacturing work machine 436 performs manufacturing work for mounting the electrodes 424 inside the case 420. It is. When the manufacturing work by the fourth manufacturing work machine 436 is completed, the wire bonding machine 444 performs wire bonding processing. The power module 402 subjected to the wire bonding process is sent to the fifth manufacturing work machine 438. The fifth manufacturing work machine 438 performs a manufacturing work for releasing two types of auxiliary agents, silicon gel and epoxy resin, into the case 420, and the sixth manufacturing work machine 440 has a cover agent on the upper part of the case 420. The manufacturing operation for mounting 326 is performed. The seventh manufacturing work machine 442 performs the manufacturing work of sticking the seal 428 on the side surface of the case 420. When the manufacturing work by the seventh manufacturing work machine 442 is completed, the completed power module 402 becomes the first power module 402. 7 sent out from the manufacturing machine 442. In addition, since the operation command in the manufacturing work machine of this system 400 is similar to the operation command in the manufacturing work machine of the said LED illumination manufacturing system 350, the description regarding the operation command in this system 400 is abbreviate | omitted.

iii) Solar Cell Manufacturing System FIG. 22 is a perspective view of the solar cell manufacturing system 470, and FIG. 23 is an exploded view of the solar cell 472 manufactured by the manufacturing system 370. As shown in FIG. 23, the solar cell 472 includes a silicon cell 474, a lower surface side interconnector 476 that is soldered to the lower surface of the silicon cell 474, and an upper surface side interconnector 478 that is soldered to the upper surface of the silicon cell 474. And is composed of. As shown in FIG. 22, the solar cell manufacturing system 470 includes three manufacturing machines, and these three manufacturing machines are arranged on the most upstream side (the leftmost side). The first manufacturing work machine 480, the second manufacturing work machine 482, and the third manufacturing work machine 484 are sequentially arranged.

The first manufacturing machine 480 is obtained by changing the dispenser head 28 of the manufacturing machine 10 to a cream solder printing device 316 and changing the component supply device 24 to an interconnector supply device 486 that supplies an interconnector. The second manufacturing work machine 482 is obtained by changing the dispenser head 28 of the manufacturing work machine 10 to a cream solder printing device 316 and changing the component supply device 24 to a silicon cell supply device 488 that supplies silicon cells 474. . The third manufacturing work machine 484 is obtained by changing the dispenser head 28 of the manufacturing work machine 10 to the cream solder printing device 316 and changing the component supply device 24 to two interconnector supply devices 486.

  The first manufacturing work machine 480 includes a component holding head 26, a cream solder printing head 316, an interconnector supply device 486, and a transport device 22 as work element execution devices, and a mounting device with a lower surface side interconnector 476 as a work object. 26, a manufacturing operation for printing the cream solder on all the places where the cream solder on the upper surface of the lower surface side interconnector 476 is to be applied is performed. The second manufacturing work machine 482 includes a component holding head 26, a cream solder print head 316, a silicon cell supply device 488, and a transfer device 22 as work element execution devices. In addition to mounting the silicon cell 474, a manufacturing operation is performed in which the cream solder is printed on a part of the portion where the cream solder on the upper surface of the silicon cell 474 is to be printed. The third manufacturing work machine 484 includes a component holding head 26, a cream solder print head 316, two interconnector supply devices 486, and a transport device 22 as work element execution devices, and prints the cream solder on the upper surface of the silicon cell 474. The cream solder is printed on the remaining portion of the place to be printed, and the manufacturing work of mounting the upper surface side interconnector 478 on the place where the cream solder on the silicon cell 474 is printed is performed. When the manufacturing work by the third manufacturing work machine 484 is completed, the manufactured solar cell 472 is sent out from the third manufacturing work machine 484. In the present system 470, each of the three manufacturing work machines 480, 482, and 484 includes a component holding head 26 and a cream solder printing device 316 as two work head devices. In these three manufacturing work machines 480, 482, and 484, the component holding head 26 is a carry head that holds the components to be supplied, and the main head device that performs the main operation in the operation of assembling the components. Function as. Further, the cream solder printing device 316 is a process head that applies cream solder, and is an auxiliary head device that executes the application of cream solder as an auxiliary operation to the main operation before assembling the components. Function. In addition, since the operation command in the manufacturing work machine of this system 470 is similar to the operation command in the manufacturing work machine of the said LED illumination manufacturing system 350, description regarding the operation command in this system 470 is abbreviate | omitted.

iv) Other Features in Manufacturing Work System FIG. 24 is a diagram showing only two manufacturing work machines in the manufacturing work system. As shown in FIG. 24, an opening 500 is formed in the frame 20 of the manufacturing machine. The opening 500 is located at a position where one end of the screw rod 90 disposed on the beam 74 faces each other in a state where the beam 74 of the adjacent manufacturing work machine is positioned in the foremost position (the position shown in FIG. 24). Is formed. That is, when the screw rod 90 is replaced due to some kind of failure, the screw rod 90 can be inserted and removed through the opening 500 formed in the frame 20 of the adjacent manufacturing machine. That is, even when the screw rod 90 is replaced, the screw rod 90 can be easily replaced without the need to remove the manufacturing machine main body from the system.

  10: assembly work machine (manufacturing work machine) 12, 14: cover (exterior panel) 20: frame (base) 22: transport device 24: component supply device 26: component holding head (main head device, first work head device) 28: Dispenser head device (auxiliary head device, second working head device) 30: Head moving device 32: Imaging device 40: Base material (first component) 44: Electronic circuit component (second component) 50: Adsorption nozzle 52: Positive / negative pressure supply device (actuating device) 54: Dispenser nozzle 58: Discharge device (actuating device) 60: Planar type moving device 62, 64: Vertical direction moving device (Z direction moving device, operating device) 66: X direction moving device ( 68: Y-direction moving device (linear moving device, actuating device) 82: Linear motor 90: Screw rod (shaft body) 94: Electromagnetic motor 100, 101: Ball screw mechanism 102, 103: Electromagnetic motor 104, 105: Slider (head holding portion) 106: Opening 108: Component holder (main device) 109: Holder moving device (moving device, actuating device) 114: Electromagnetic motor 118: Electromagnetic motor 119: Nozzle rotating device (actuating device) 120: Base camera 122: Head camera 128 Belt rotating device: (Actuating device) 130: Conveyor belt 132: Conveyance motor 136: Lifting device (operating device) 144: Tray moving device (operating device) 160: Moving device control device (individual control device) 170: Component holding head control device (individual control device) 174: D Pencer head control device (individual control device) 178: Supply device control device (individual control device) 182: Conveyance device control device (individual control device) 190: Imaging device controller (individual control device) 192: Sub general control device 200: Main control Control device 240: General interface unit 242: Individual interface unit 260: Lift and carry (conveying device) 262: Tape feeder (component supply device) 282: Double conveyor 300: High-frequency welder 302: Laser generator 304: UV irradiation device 306: Hot air blowing device 308: Screw tightening device 310: Screw mounting / screw tightening device 312: Double dispenser device 314: Component holding device 316: Cream solder printing device 350: LED lighting Manufacturing system (manufacturing work system) 370, 372, 374, 376, 378, 380, 382, 384: Manufacturing work machine 386: Screw supply device 400: Power module manufacturing system (manufacturing work system) 430, 432, 434, 436 438, 440, 442: Manufacturing work machine 450: Bush supply device 452: Lid member supply device 470: Solar cell manufacturing system (manufacturing work system) 480, 482, 484: Manufacturing work machine 500: Opening

Claims (10)

A manufacturing work machine for performing manufacturing work,
Each includes a plurality of work element execution devices that execute one of the plurality of work elements constituting the manufacturing operation,
The plurality of work element execution devices are configured to include a plurality of work head devices,
A manufacturing work machine in which the plurality of work head devices include a first work head device and a second work head device that are different from each other in the type of work to be performed. The first work head device is a main head device that executes a main work in the manufacturing work as one of the plurality of work elements,
2. The manufacturing work machine according to claim 1, wherein the second work head device is an auxiliary head device that executes an auxiliary work for the work that is the main work as another one of the plurality of work elements. . The manufacturing work machine is an assembly work machine that performs an assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and a first part that is one of the plurality of parts, Assembling the second part, which is another one of the parts, as at least a part of the assembling work,
The first work head device performs holding of the second part as a work necessary for assembling the second part to the first part,
The second head device is (A) an operation performed prior to an operation of assembling the second component to the first component as an operation necessary for assembling the second component to the first component; The manufacturing work machine according to claim 1 or 2, wherein the first part performs one of operations performed on an object in which the second part is assembled.   4. The apparatus according to claim 1, wherein at least one of the plurality of work head devices is configured to be exchangeable with another work head device other than the plurality of work head devices. 5. Manufacturing work machine. The plurality of work element execution devices,
A head moving device configured to perform movement of the plurality of work head devices as one of the plurality of work elements;
The manufacturing operation according to any one of claims 1 to 4, wherein the head moving device includes a vertical moving device that moves one of the plurality of work head devices in the vertical direction. Machine. The head moving device has a head holding portion for holding one of the plurality of work head devices;
The manufacturing work machine according to claim 5, wherein the vertical movement device is configured to move one of the plurality of work head devices in a vertical direction by moving a head holding portion thereof.   One of the plurality of work head devices is a main device that is a main subject in the work performed by the one, and the main device is held by the head holding unit and is moved vertically with respect to the head holding unit. The manufacturing machine according to claim 6, further comprising a moving device to be operated. The manufacturing machine includes an imaging device,
The imaging device is attached to the head holding unit, and is moved up and down together with one of the plurality of work head devices by the vertical movement device. The manufacturing machine described. The manufacturing work machine is an assembly work machine that performs an assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and the first part that is one of the plurality of parts includes the plurality of parts. Assembling a second part, which is another one of the parts, as at least a part of the assembling work,
The manufacturing machine according to claim 8, wherein the imaging device is configured to image at least one of the first part and an object in which the second part is assembled to the first part. The manufacturing work machine is an assembly work machine that performs an assembly work of an assembly assembled by a plurality of parts as the manufacturing work, and the first part that is one of the plurality of parts includes the plurality of parts. Assembling a second part, which is another one of the parts, as at least a part of the assembling work,
The plurality of work element execution devices further includes:
A transfer device that executes transfer of at least one of the first part and the assembly as one of the plurality of work elements;
The manufacturing work machine according to any one of claims 1 to 9, further comprising: a component supply device that executes supply of the second component as one of the plurality of work elements.

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