JP2024036630A - Component mounting line and component supply method - Google Patents

Abstract

An object of the present invention is to provide a storage unit for a parts supply unit that is easy to use. A component mounting line 10 includes a plurality of component mounters 20 lined up along the board conveyance direction, a feeder storage 60 that stores a plurality of feeders 30 that can be attached to and detached from the component mounters 20, and a feeder storage. 60 and an exchange robot 50 capable of exchanging the feeder 30 between each component mounter 20. The feeder 30 is replaced by moving along the direction. As a result, the feeder 30 used in any of the component mounting machines 20 can be replenished and collected in the feeder storage 60, so that the operator can easily replenish and collect the feeder 30. [Selection diagram] Figure 1

Description

The present invention relates to a component mounting line.

2. Description of the Related Art Conventionally, a component mounting machine that picks up components from a component supply unit containing a plurality of components and mounts them on a board has been proposed in which the component supply unit can be automatically replaced. For example, Patent Document 1 describes a supply station in which a component supply unit is placed so that components can be picked up by a component mounter, a storage that is provided adjacent to the component mounter and stores a plurality of component supply units, A configuration is disclosed that includes a loader for exchanging component supply units between a storage and a supply station. In this configuration, when an empty parts supply unit that is out of parts occurs, the loader automatically replaces the empty parts supply unit with the parts supply unit in the storage warehouse. .

Japanese Unexamined Patent Publication No. 7-176892

When the technology described in Patent Document 1 is applied to a component mounting line configured by arranging a plurality of component mounters, a storage corresponding to each component mounter will be provided adjacent to each component mounter. . Therefore, the total length of the component mounting line may become longer than expected. Further, when each component mounting machine is provided with a corresponding storage, it is necessary to supply and collect component supply units to each storage. In this way, in a configuration in which each component mounting machine has a storage area adjacent to each other, it may be rather inconvenient to use.

The main object of the present invention is to provide a storage unit for a parts supply unit that is easy to use.

The present invention employs the following means to achieve the above-mentioned main objective.

The component mounting line of the present invention is configured by arranging a plurality of component mounters in which a component supply unit is removably set and which mounts the components supplied by the component supply unit onto an object to be mounted along the transport direction of the object to be mounted. The component mounting line includes a unit storage for storing a plurality of component supply units, the component supply units attached to the plurality of component mounting machines, and the component supply units stored in the unit storage. and a control device that controls the unit exchange device, the unit storage is installed in the same row as the plurality of component mounters, and the control device is configured to replace the component mounters along the transport direction. The gist of the present invention is to control the unit replacement device to move within a predetermined movement range and replace the component supply unit.

In the component mounting line of the present invention, a unit storage for storing a plurality of component supply units is installed in the same line as a plurality of component mounters, and components are supplied by moving within a predetermined movement range along the conveyance direction of the mounting target. Controls the unit replacement device to perform unit replacement. Thereby, no matter which component supply unit is used in any component mounting machine, the supply and collection of the component supply unit can be carried in and out of the unit storage. Further, if the unit exchange device is outside the predetermined range in front of the unit storage, the component supply unit can be carried in or taken out at any timing. As a result, it is possible to provide an easy-to-use unit storage.

Further, in the component mounting line of the present invention, the unit storage is located upstream of the most upstream component mounter or downstream of the most downstream component mounter in the direction in which the plurality of component mounters are lined up. It may also be installed. In this way, since the unit storage is installed at the end of the row of the plurality of component mounting machines, it is possible to carry the component supply unit into and out of the unit storage even more easily.

In the component mounting line of the present invention in this aspect, the unit storage may be installed not only at the upstream position or the downstream position but also at an intermediate position in the arrangement of the plurality of component mounters. can. In this way, even if the component mounting line is a long line consisting of many component mounters, the distance that the unit replacement device must travel between the unit storage and the component mounters will be longer than necessary. can be prevented.

Further, in the component mounting line of the present invention, the unit storage may include a transport device that transports the mounting target in the transport direction. In this way, it becomes possible to easily install the unit storage in the same position as a plurality of component mounting machines.

Further, in the component mounting line of the present invention, the unit storage has a common configuration with the component supply unit being removably set in the component mounting machine, and the unit exchange device Attachment and detachment of the component supply unit at the machine and attachment and detachment of the component supply unit at the unit storage may be performed by a common operation using the same mechanism. In this way, the configuration of the unit exchange device can be prevented from becoming complicated, and the component supply unit can be efficiently attached and detached.

Further, in the component mounting line of the present invention, the unit storage is configured such that the component supply unit can be carried in and taken out by the worker, and the worker within a predetermined range including the front of the unit storage within the movement range. It may also include a detector that detects the presence or absence of the worker, and the control device controls the unit exchange device so as not to move within the predetermined range when the detector detects the worker. . In this way, the safety of the workers who carry in and out the component supply unit can be ensured.

In this aspect of the component mounting line of the present invention, when the detector detects a worker, the control device controls the predetermined speed at a slower speed than when the detector does not detect a worker. The unit exchange device can also be controlled to move within the movement range excluding the range. In this way, the unit exchange device can be moved within a range that does not impede worker safety.

Further, in the component mounting line of the present invention, the unit storage is configured such that the component supply unit can be carried in and out of the unit storage by an automatic transport device that automatically transports the component supply unit from outside the component mounting line. You can also do it. In this way, the loading and unloading of the component supply unit can be automated and made efficient.

Further, in the component mounting line of the present invention, a management device for managing mounting of the component mounting machine may be arranged in the installation space of the unit storage. In this way, the space within the component mounting line can be used efficiently.

Further, in the component mounting line of the present invention, the component supply unit supplies the component to the component mounter by sending out a housing member that accommodates the component, and the component supply unit supplies the component to the component mounter. a waste material transport device that transports the waste material of the storage member after being supplied to the installation space of the unit storage, and the waste material transported by the waste material transport device is collected in the installation space of the unit storage warehouse. It is also possible to arrange a collection container in which the In this way, the space within the component mounting line can be used efficiently.

1 is a configuration diagram schematically showing the configuration of a component mounting line 10. FIG. FIG. 2 is a configuration diagram schematically showing the configuration of a component mounter 20. FIG. FIG. 3 is a configuration diagram schematically showing the configuration of a feeder 30. FIG. FIG. 3 is a configuration diagram showing an outline of the configuration of an exchange robot 50. FIG. 6 is a configuration diagram showing an outline of the configuration of a feeder storage 60. FIG. 3 is a configuration diagram regarding control of the component mounting line 10. 5 is a flowchart illustrating an example of storage area information update processing. An explanatory diagram showing an example of storage area information. 5 is a flowchart illustrating an example of feeder exchange processing. 5 is a flowchart illustrating an example of exchange robot movement processing. FIG. 7 is a configuration diagram schematically showing the configuration of a component mounting line in a modified example. FIG. 7 is a configuration diagram schematically showing the configuration of a component mounting line in a modified example.

FIG. 1 is a block diagram schematically showing the structure of the component mounting line 10, FIG. 2 is a block diagram schematically showing the structure of the component mounting machine 20, and FIG. 3 is a block diagram schematically showing the structure of the feeder 30. be. 4 is a block diagram schematically showing the structure of the exchange robot 50, FIG. 5 is a block diagram schematically showing the structure of the feeder storage 60, and FIG. 6 is a block diagram related to control of the component mounting line 10. be. Note that the left-right direction in FIG. 1 is the X direction, the front-back direction is the Y direction, and the up-down direction is the Z direction.

As shown in FIG. 1, the component mounting line 10 includes a printer 12 that prints solder on a board, a print inspection machine 14 that inspects the condition of the printed solder, and a component that is supplied from a feeder 30 onto a board. A plurality of component mounting machines 20 for mounting, a mounting inspection machine (not shown) for inspecting the mounting state of components, a feeder storage 60 capable of storing a plurality of feeders 30, a management device 80 for managing the entire line, etc. Be prepared. In the component mounting line 10, a printing machine 12, a print inspection machine 14, and a plurality of component mounting machines 20 are arranged in this order in the board transport direction (X direction). The feeder storage 60 is built into the component mounting line 10 and is located between the component mounter 20 that is the most upstream in the board conveyance direction among the plurality of component mounters 20 and the print inspection machine 14. It is installed in That is, the feeder storage 60 is installed at a position upstream of the component mounting machine 20 that is the most upstream side. In this embodiment, an operator replenishes the feeder 30 to the feeder storage 60 or collects the feeder 30 from the feeder storage 60. Replenishment and recovery of feeders 30 from feeder storage 60 is also referred to as loading and unloading of feeders 30.

The component mounting line 10 also includes a replacement robot 50 that automatically replaces the feeder 30 between the plurality of component mounting machines 20 and the feeder storage 60. The exchange robot 50 is movable along an X-axis rail 18 that is provided in front of the plurality of component mounting machines 20 and in front of the feeder storage 60 in parallel to the board conveyance direction (X direction). . Note that the illustration of the X-axis rail 18 is omitted in FIGS. 2 and 5. In this embodiment, the range in front of the feeder storage 60 and the plurality of component mounters 20 will be divided into three ranges. Each range, in order from the upstream side in the transport direction, is a storage front range 11a including the front of the feeder storage 60 and the front of the component mounting machine 20 adjacent to the feeder storage 60, and an adjacent area adjacent to the storage front range 11a. A range 11b and a non-adjacent range 11c that is adjacent to the adjacent range 11b and not adjacent to the storage front range 11a.

As shown in FIG. 2, the component mounter 20 includes a board transport device 21 that transports the board S in the X direction, a head 22 that has a suction nozzle that suctions the components supplied by the feeder 30, and a head 22 that transports the board S in the X and Y directions. It includes a head moving mechanism 23 that moves the head, and a mounting control device 28 (see FIG. 6) that controls the entire device. The mounting control device 28 is composed of a well-known CPU, ROM, RAM, etc., and outputs drive signals to the substrate transport device 21, the head 22, the head moving mechanism 23, and the like.

The feeder 30 is configured as a tape feeder that feeds out a tape containing parts at a predetermined pitch. As shown in FIG. 3, the feeder 30 includes a tape reel 32 on which tape is wound, a tape feeding mechanism 33 that draws out and feeds the tape from the tape reel 32, and a connector 35 having two positioning pins 34 that project. , a rail member 37 provided at the lower end, and a feeder control device 39 (see FIG. 6) that controls the entire feeder. The feeder control device 39 is composed of a well-known CPU, ROM, RAM, etc., and outputs a drive signal to the tape feeding mechanism 33. In addition, the feeder control device 39 can communicate with a control unit to which the feeder 30 is attached (such as the mounting control device 28 or the management device 80) via the connector 35.

As shown in FIG. 2, the component mounter 20 has two areas, upper and lower, in front of which the feeder 30 can be attached. The upper area is a parts supply area 20A where the feeder 30 can supply parts, and the lower area is a stock area 20B where the feeder 30 can be stocked. Feeder stands 40 to which a plurality of feeders 30 are attached are provided in the supply area 20A and the stock area 20B, respectively. The feeder stand 40 is an L-shaped stand when viewed from the side, and has a plurality of slots 42 arranged in the X direction at intervals in which the rail members 37 of the feeder 30 can be inserted, and two positioning pins 34 of the feeder 30 are inserted therein. It includes two possible positioning holes 44 and a connector 45 provided between the two positioning holes 44 and to which the connector 35 is connected.

The component mounting machine 20 also includes a tape duct 24 that sends the tape downward after the feeder 30 supplies the components, a tape cutter 25 that cuts the tape passed through the tape duct 24 into small pieces, and a tape cutter 25 that cuts the tape into small pieces. It includes a tape chute 26 through which waste tape falls, and a waste tape conveying device 27 arranged below the tape chute 26. The waste tape transport device 27 of this embodiment is configured as a belt conveyor device that transports the waste tape from the right side to the left side in the X direction using a conveyor belt. The waste tape conveying device 27 is fixed in a state where the conveyor belt is inclined upward from the right side to the left side in the X direction. In addition, the left end of the conveyor belt protrudes from the left side of the component mounter 20, and the waste tape conveyor 27 (conveyor belt) of the component mounter 20 adjacent to the left side (upstream side in the conveyance direction) is connected to the waste tape conveyor 27. It has a length exceeding the width of the component mounting machine 20 in the X direction so as to be located above the right end portion. Therefore, the waste tape transport devices 27 of adjacent component mounters 20 can overlap each other and transfer waste tape, and the waste tape transport devices 27 of each component mounter 20 can be moved in the opposite direction to the board S transport direction. This constitutes one waste tape transport line.

As shown in FIG. 4, the exchange robot 50 includes a robot movement mechanism 51 that moves the exchange robot 50 along the X-axis rail 18, and a feeder transfer mechanism that transfers the feeder 30 to the component mounting machine 20 or the feeder storage 60. It includes a mechanism 53 and a robot control device 59 (see FIG. 6) that controls the entire robot. The robot movement mechanism 51 includes an X-axis motor 52a such as a servo motor that drives a drive belt for moving the exchange robot 50, a guide roller 52b that guides the movement of the exchange robot 50 along the X-axis rail 18, and the like. Be prepared. The feeder transfer mechanism 53 includes a Y-axis slider 55 equipped with a clamp part 54 that clamps the feeder 30 and a Y-axis motor 55a that moves the clamp part 54 along the Y-axis guide rail 55b, and It also includes a Z-axis motor 56a for moving along the axis guide rail 56b. In addition, the exchange robot 50 includes an encoder 57 (see FIG. 6) that detects the moving position in the X direction, and left and right monitoring sensors (left side monitoring A sensor 58a, a right-side monitoring sensor 58b (see FIG. 6), and the like are provided.

The Y-axis slider 55 of the feeder transfer mechanism 53 is driven by a Z-axis motor 56a to separate an upper transfer area 50A facing the supply area 20A of the component mounter 20 and a lower transfer area 50A facing the stock area 20B of the component mounter 20. It moves to the loading area 50B. The robot control device 59 moves the Y-axis slider 55, which clamps the feeder 30 by the clamp unit 54, from the upper transfer area 50A to the supply area 20A by driving the Y-axis motor 55a, and moves the rail member 37 of the feeder 30. The feeder 30 is attached to the feeder stand 40 in the supply area 20A by inserting it into the slot 42 of the feeder stand 40 and releasing the clamp of the clamp part 54. The robot control device 59 also clamps the feeder 30 attached to the feeder table 40 in the supply area 20A with the clamp unit 54, and transfers the Y-axis slider 55 from the supply area 20A to the upper part by driving the Y-axis motor 55a. By moving the feeder 30 to the area 50A, the feeder 30 is removed from the feeder stand 40 of the supply area 20A (drawn into the upper transfer area 50A). The robot control device 59 attaches the feeder 30 to the feeder stand 40 in the stock area 20B and removes the feeder 30 from the feeder stand 40 in the stock area 20B by moving the Y-axis slider 55 to the lower part by driving the Z-axis motor 56a. The same process is performed except that the transfer area 50B is moved to the area 50B and the lower transfer area 50B is used instead of the upper transfer area 50A, so a description thereof will be omitted.

As shown in FIG. 5, the feeder storage 60 has a storage area 60A at the front right upper part of the housing 61 to which the feeder 30 can be attached. The storage area 60A is provided with a feeder table 40 having the same configuration as the feeder table 40 provided in the supply area 20A and stock area 20B of the component mounting machine 20. Furthermore, the feeder stand 40 in the storage area 60A is provided at the same height (Z-direction position) as the feeder stand 40 in the supply area 20A. Therefore, the robot control device 59 of the exchange robot 50 moves the Y-axis slider 55, which clamps the feeder 30 by the clamp part 54, from the upper transfer area 50A to the storage area 60A by driving the Y-axis motor 55a. The feeder 30 can be attached to the feeder stand 40 in the storage area 60A by inserting the rail member 37 of the feeder 30 into the slot 42 of the feeder stand 40 and releasing the clamp of the clamp part 54. The robot control device 59 also clamps the feeder 30 attached to the feeder table 40 in the storage area 60A with the clamp unit 54, and transfers the Y-axis slider 55 from the storage area 60A to the upper part by driving the Y-axis motor 55a. By moving the feeder 30 to the area 50A, the feeder 30 can be removed from the feeder stand 40 in the storage area 60A (drawn into the upper transfer area 50A). That is, the exchange robot 50 attaches and detaches the feeder 30 to and from the feeder table 40 in the storage area 60A of the feeder storage 60 with the same operation as attaching and detaching the feeder 30 to and from the feeder table 40 in the supply area 20A of the component mounting machine 20. I can do it. Note that both the storage area 60A of the feeder storage 60 and the stock area 20B of the component mounting machine 20 can store feeders 30 that are not in use (not supplying components). For example, the stock area 20B may store feeders 30 with remaining parts or feeders 30 that are scheduled to be used relatively soon, and the storage area 60A may store used feeders 30 with no remaining parts. can.

The feeder storage 60 also includes a substrate transport device 62 at the rear upper part of the housing 61 for transporting the substrates S in the X direction. This board transport device 62 is located at the same position in the front-rear direction and up-down direction as the board transport device (not shown) of the print inspection machine 14 and the board transport device 21 of the adjacent component mounting machine 20 . Therefore, the board transport device 62 can transport the board S received from the board transport device of the print inspection machine 14 and deliver it to the board transport device 21 of the adjacent component mounting machine 20.

In a lower rear space 63A of the housing 61 of the feeder storage 60, a collection container 64 for collecting waste tape transported by the waste tape transport line is arranged. As described above, since the left end of the waste tape conveyance device 27 of each component mounter 20 protrudes from the left side of each component mounter 20, the waste tape conveyance device 27 of the component mounter 20 adjacent to the feeder storage 60 also extends from the left side. will protrude and invade the inside of the housing 61. The collection container 64 is disposed below the left end of the waste tape transport device 27 that has entered the housing 61, so that the waste tape can be collected. Further, an opening 63B that communicates with the lower space 63A and is larger than the height and lateral width of the collection container 64 is formed in the lower part of the front right side of the housing 61. Therefore, the operator can take the collection container 64 in and out of the opening 63B and collect the collection container 64 (waste tape). Note that the feeder storage 60 may have an area below the storage area 60A where the feeder 30 can be attached, and the opening 63B may not be formed. In that case, the collection container 64 may be taken in and out from the rear of the housing 61. It may be possible to configure.

Further, on the front left side of the housing 61 of the feeder storage 60, a storage section 65A having a rectangular parallelepiped opening at the bottom is formed, and a stand 65B having a horizontal surface is formed at the top. The storage section 65A is formed to be one size larger than the main body of the management device 80, and as shown in FIG. 1, the main body of the management device 80 is stored therein. Furthermore, as shown in FIG. 1, a display 82 and an input device 84 are placed on the upper stand 65B. In this way, the installation space of the feeder storage 60 is also used as the installation space of the collection container 64 and the management device 80.

As shown in FIG. 6, the management device 80 is composed of a well-known CPU 80a, ROM 80b, HDD 80c, RAM 80d, etc., and includes a display 82 such as an LCD, and an input device 84 such as a keyboard and a mouse. The management device 80 stores a production program for the substrate S and the like. The production program for the board S is a program that determines which parts are to be mounted on which board S, and how many boards S to be manufactured in such a manner. The management device 80 is communicably connected to the mounting control device 28 by wire, and connected to the robot control device 59 to be able to communicate wirelessly. is connected to enable communication. The management device 80 receives information regarding the mounting status of the component mounter 20 from the mounting control device 28 and information regarding the driving status of the exchange robot 50 from the robot control device 59. Furthermore, the management device 80 of this embodiment also manages the feeder storage 60. The management device 80 is communicably connected to the feeder control device 39 of the feeder 30 attached to the feeder stand 40 in the storage area 60A via connectors 35 and 45. Further, the management device 80 outputs a drive signal to the substrate transport device 62 of the feeder storage 60 to cause the substrate transport device 62 to transport the substrate S. Further, the management device 80 receives a detection signal from a storage front monitoring sensor 86 such as an infrared sensor that monitors the presence of a worker in the storage front range 11a.

The following is a description of the processing performed by the management device 80 of the component mounting line 10. FIG. 7 is a flowchart showing an example of storage area information update processing. Note that the storage area information is information regarding the mounting position and ID information of the feeder 30 set on the feeder table 40 in the storage area 60A, and the stored components, and is stored in the HDD 80c. In the storage area information update process, the CPU 80a of the management device 80 first determines whether the feeder 30 has been newly attached to the feeder stand 40 in the storage area 60A (S100). When determining that the feeder 30 is newly attached, the CPU 80a acquires the position information of the attachment position based on the position of the attached connector 45 (S105), and also acquires the attachment position information from the feeder control device 39 of the attached feeder 30. ID information, and feeder information such as the types and quantities of parts accommodated are acquired (S110). Then, the CPU 80a updates the storage area information by registering the feeder information in association with the position information (S115), and proceeds to the next process of S120. Further, if the CPU 80a determines in S100 that the feeder 30 is not newly attached, it skips the processes in S105 to S115 and proceeds to the next process in S120.

Next, the CPU 80a of the management device 80 determines whether or not the feeder 30 has been removed from the feeder stand 40 in the storage area 60A (S120), and if it is determined that the feeder 30 has not been removed, the CPU 80a executes the storage area information update process. finish. On the other hand, if the CPU 80a determines that the feeder 30 has been removed, it acquires the position information of the removal position based on the position of the removed connector 45 (S125), and deletes the feeder information associated with the position information. Thus, the storage area information is updated (S130), and the storage area information update process is ended.

Here, FIG. 8 is an explanatory diagram showing an example of storage area information. In the storage area information, ID information of the feeder 30, information on the type of parts, information on the amount of parts, etc. are stored in association with the position information of the attachment position of the feeder 30. Note that the position information is determined in order with the reference slot (for example, the leftmost slot 42) among the plurality of slots 42 of the feeder table 40 as the leading position "001". In the example of FIG. 8, the feeder 30 whose component type is "A-001" and whose component quantity is "Full" (unused after being supplied by the operator) is located at the position where the position information is "001" or "002". indicates that it is attached. Furthermore, the position information “003” indicates that the feeder 30 is not attached. Furthermore, the feeder 30 whose component type is "B-005" and whose component amount is "Empty" (already used by the component mounter 20) is attached to the position where the position information is "004" or "005". Show that. When the number of "Empty" feeders 30 exceeds a predetermined number, the operator is notified by voice. Note that the storage area information is not limited to storing the amount of parts as "Full" or "Empty", but may also be storing the value of the remaining number of parts. The management device 80 may also visibly display storage area information on the display 82 based on a request from the worker. Note that the mounting control device 28 of each component mounter 20 stores supply area information in which position information in the supply area 20A and feeder information are associated with each other, and position information and feeder information in the stock area 20B, as well as storage area information. Stores stock area information associated with.

FIG. 9 is a flowchart showing an example of feeder exchange processing. This process is executed when the feeder 30 in the storage area 60A of the feeder storage 60 is replaced with the feeder 30 in the supply area 20A (or stock area 20B) of the component mounter 20. To replace the feeder 30, the management device 80 removes the feeder 30 containing components necessary for the next mounting process from the storage area 60A and attaches it to the supply area 20A of each component mounting machine 20 based on the production program of the board S. Alternatively, the feeder 30 containing components unnecessary for the next mounting process may be removed from the supply area 20A and attached to the stock area 20B or the storage area 60A. Alternatively, the feeder 30 can be replaced when the number of remaining parts in the feeder 30 attached to the supply area 20A becomes 0 and the out-of-parts information transmitted from the component mounter 20 is received. This is done by removing the feeder 30 from the supply area 20A and attaching it to the storage area 60A, or by removing the feeder 30 containing the same type of parts from the storage area 60A and attaching it to the supply area 20A or the stock area 20B. In this way, the replacement process for the feeder 30 can be performed in two ways: when attaching and detaching the feeder 30 in the feeder storage 60 (storage area 60A), and when attaching and detaching the feeder 30 in the component mounter 20 (supply area 20A, stock area 20B). There is.

In the feeder replacement process, the CPU 80a of the management device 80 first determines whether it is the time to attach or detach the feeder 30 in the feeder storage 60 (storage area 60A) (S200), and if it is determined that it is not the time to attach or detach the feeder 30, the CPU 80a performs the next step. The process advances to step S225. On the other hand, if the CPU 80a determines that it is time to attach or detach, the CPU 80a sets a processing target position, which is a position at which the feeder 30 is attached or detached, based on the storage area information (S205). Further, the CPU 80a sets a target position to which the exchange robot 50 should move in order to attach and detach the feeder 30 at the processing target position (S210). For example, when removing a feeder 30 from the feeder storage 60 (storage area 60A), the position of the slot 42 where the feeder 30 is installed (installation position) becomes the processing target position, and the feeder 30 cannot be removed from the processing target position. The position of the exchange robot 50 that becomes possible becomes the target position. Furthermore, when attaching a used feeder 30 to the feeder storage 60 (storage area 60A), the position of the empty slot 42 where the feeder 30 can be attached becomes the processing target position, and the feeder 30 can be attached at that processing target position. The position of the exchange robot 50 that becomes the target position is the target position. After setting the target position, the CPU 80a executes an exchange robot movement process to move the exchange robot 50 to the target position (S215), and drives and controls the exchange robot 50 at the target position to move the exchange robot 50 to the feeder storage 60 (storage area 60A). The process of attaching and detaching the feeder 30 to the processing target position is performed (S220), and the process proceeds to the next process of S225.

Next, the CPU 80a determines whether it is time to attach or detach the feeder 30 in the component mounting machine 20 (supply area 20A, stock area 20B) (S225), and if it is determined that it is not the attachment or detachment timing, terminates the feeder replacement process. do. On the other hand, when the CPU 80a determines that it is the mounting/dismounting timing, it specifies the component mounter 20 to be processed (S230), and sets the processing target position based on the supply area information and stock area information of the identified component mounter 20. At the same time (S235), the target position of the exchange robot 50 is set (S240). For example, when removing the feeder 30 of the component mounting machine 20 (supply area 20A, stock area 20B), the position (installation position) of the slot 42 where the feeder 30 is installed becomes the processing target position, and the feeder 30 is removed at the processing target position. The position of the exchange robot 50 at which the robot 30 can be removed becomes the target position. Further, when attaching the feeder 30 to the component mounting machine 20 (supply area 20A, stock area 20B), the position of the empty slot 42 where the feeder 30 can be attached becomes the processing target position, and the feeder 30 is attached at the processing target position. The position of the exchange robot 50 that becomes possible becomes the target position. After setting the target position, the CPU 80a executes a replacement robot movement process to move the replacement robot 50 to the target position (S245), and drives and controls the replacement robot 50 at the target position to move the replacement robot 50 to the component mounter 20 (supply area 20A, stock The feeder 30 is attached to and detached from the processing target position in area 20B) (S250), and the feeder replacement process is completed. Note that in the processing of S235 to S250, the feeder 30 may be replaced between the supply area 20A and the stock area 20B. The exchange robot movement processing in S215 and S245 will be explained below. FIG. 10 is a flowchart illustrating an example of exchange robot movement processing. This process is performed by the CPU of the robot control device 59 based on a drive command from the management device 80.

In this replacement robot movement process, the robot control device 59 first determines whether the sensor on the traveling direction side (the side toward the target position) of the replacement robot 50 detects a worker (obstruction) (S300 ). The process of S300 is performed based on the detection signal from the left side monitoring sensor 58a if the traveling direction is to the left, and is performed based on the detection signal from the right side monitoring sensor 58b if the traveling direction is to the right. If the robot control device 59 determines that the sensor on the moving direction side has detected the worker, it stops the exchange robot 50 (S305) and repeats the determination in S300. The process of S305 is performed by ending the movement if the exchange robot 50 is moving, and by maintaining that state if the exchange robot 50 is stopped.

On the other hand, if the robot control device 59 determines that the sensor on the traveling direction side does not detect the worker, the robot controller 59 determines that the traveling direction of the replacement robot 50 is toward the feeder storage 60 side (in this embodiment, the upstream side of the component mounting line 10 ) (S310). When the robot control device 59 determines that the direction of movement of the exchange robot 50 is not toward the feeder storage 60 (downstream side of the component mounting line 10), the robot control device 59 moves the exchange robot 50 at a predetermined speed (S315) and performs the process in S360. Proceed to processing. Further, when the robot control device 59 determines that the moving direction of the exchange robot 50 is toward the feeder storage 60 side, the robot control device 59 determines whether there is a worker in the storage front area 11a based on the detection signal from the storage front monitoring sensor 86. (S320). When the robot control device 59 determines that there is a worker in the front storage range 11a, it determines whether the current position of the exchange robot 50 is within the adjacent range 11b based on the detected position of the encoder 57 (S325). . The robot control device 59 determines that there is no worker in the front storage range 11a, or even if it determines that there is a worker in the front storage range 11a, the exchange robot 50 is not within the adjacent range 11b (in this embodiment, , within the non-adjacent range 11c), the exchange robot 50 is moved at a predetermined speed (S330). Further, if the robot control device 59 determines that there is a worker in the front storage area 11a and determines that the exchange robot 50 is within the adjacent area 11b, the robot control device 59 moves the exchange robot 50 at a low speed that is lower than the predetermined speed. (S335). In this way, when the exchange robot 50 approaches the worker in the area in front of the storage warehouse 11a, the exchange robot 50 is moved at low speed within the adjacent area 11b. 50 can be prevented from being restricted more than necessary.

Next, the robot control device 59 determines whether the exchange robot 50 has reached the boundary position between the adjacent range 11b and the storage front range 11a based on the detected position of the encoder 57 (S340), and If it is determined that there is no such information, the process advances to S360. When the robot control device 59 determines that the exchange robot 50 has reached the boundary position, it determines whether or not there is a worker in the storage front area 11a based on the detection signal from the storage front monitoring sensor 86 (S345). If it is determined that there is a worker in the front storage area 11a, the exchange robot 50 is stopped (S350) and the determination in S345 is repeated. The process of S350 is performed by ending the movement if the exchange robot 50 is moving, and by maintaining that state if the exchange robot 50 is stopped. In this way, if there is a worker in the front storage area 11a, the exchange robot 50 is not allowed to enter the front storage area 11a from the adjacent area 11b, and the exchange robot 50 is prevented from moving in the front storage area 11a. , the safety of workers who carry feeders 30 into and out of feeder storage 60 can be ensured. Here, for example, it is assumed that the detection range of the monitoring sensor (left side monitoring sensor 58a) of the robot control device 50 is narrower than the detection range of the storage front monitoring sensor 86 that monitors the storage front area 11a. Therefore, based on the detection signal from the storage front monitoring sensor 86, the safety of the workers in the storage front range 11a can be appropriately ensured. Moreover, since the storage front area 11a includes not only the area in front of the feeder storage 60 but also the area in front of the adjacent component mounting machine 20, the safety of the workers can be more easily ensured.

In S345, if the robot control device 59 determines that there is no worker in the front storage range 11a, it moves the exchange robot 50 at a predetermined speed to enter the front storage range 11a (S355), and proceeds to the process of S360. . Note that if the robot control device 59 determines in S345 that the storage front monitoring sensor 86 does not detect the worker after stopping the exchange robot 50 in S350, the robot control device 59 waits until a predetermined time elapses and then stops the exchange robot 50. 50 may be moved. Then, the robot control device 59 determines whether the exchange robot 50 has reached the target position (S360). When the robot control device 59 determines that the exchange robot 50 has not reached the target position, the process returns to S300 and repeats the process, and when it determines that the exchange robot 50 has reached the target position, it stops the exchange robot 50 (S365). End the exchange robot movement process. Note that if the exchange robot 50 detects a worker after entering the storage front area 11a and before reaching the target position, the movement will be stopped in S305.

Here, the correspondence between the constituent elements of this embodiment and the constituent elements of the present invention will be clarified. The feeder 30 of this embodiment corresponds to a component supply unit, the component mounting machine 20 corresponds to a component mounting machine, the component mounting line 10 corresponds to a component mounting line, the feeder storage 60 corresponds to a unit storage, The exchange robot 50 corresponds to a unit exchange device, and the management device 80 that executes the feeder exchange process in FIG. 9 and the robot control device 59 that executes the exchange robot movement process in FIG. 10 correspond to control devices. Further, the substrate transport device 62 corresponds to a transport device, the storage front monitoring sensor 86 corresponds to a detector, the management device 80 corresponds to a management device, and the waste material transport device 26 corresponds to a waste material transport device.

The component mounting line 10 described above includes a plurality of component mounters 20 lined up along the board conveyance direction, a feeder storage 60 that stores a plurality of feeders 30 that can be attached to and detached from the component mounters 20, and a feeder storage 60 that stores a plurality of feeders 30 that can be attached to and detached from the component mounters 20. and an exchange robot 50 capable of exchanging the feeder 30 between each component mounter 20, a feeder storage 60 is installed in the same line as the plurality of component mounters 20, and the exchange robot 50 is configured to rotate the feeder 30 in the board transport direction. to replace the feeder 30. Thereby, the operator can replenish the feeders 30 to each component mounting machine 20 on the component mounting line 10 by simply replenishing the feeder storage 60 with the feeders 30. Further, since the used feeders 30 from each component mounting machine 20 can be automatically collected into the feeder storage 60, the operator can collect the feeders 30 from the feeder storage 60 all at once. That is, the operator can replenish and collect feeders 30 used in any component mounting machine 20 at the feeder storage 60. Furthermore, if the exchange robot 50 is not in front of the feeder storage 60, the feeders 30 can be replenished or recovered at any timing. Furthermore, compared to a case where an operator supplies the feeder 30 to each component mounting machine 20, the moving replacement robot 50 can be prevented from being stopped frequently. As a result, it is possible to provide a feeder storage 60 that is easy to use. In addition, by configuring the feeder storage 60 so that the number of feeders 30 stored (stored) in the feeder storage 60 is an appropriate number according to the number and type of components mounted on the component mounting line 10, The feeder storage 60 can appropriately function as an in-line parts warehouse.

Further, since the feeder storage 60 includes the substrate transport device 62, the feeder storage 60 can be easily installed in the same position as the plurality of component mounting machines 20. In the component mounting line 10, the feeder storage 60 is installed at a position upstream of the most upstream component mounting machine 20, so there is no interference with the movement of the exchange robot 50 when the feeder 30 is carried in and out of the feeder storage 60. can be suppressed. In addition, the component mounting line 10 is equipped with a common feeder table 40 at the same height position for the feeder storage 60 and the component mounting machine 20, and the exchange robot 50 is equipped with a common feeder table 40 at the same height position for the feeder storage 60 and the component mounting machine 20. Through this operation, the feeder 30 can be efficiently attached and detached between the feeder storage 60 and the component mounting machine 20.

Further, in the component mounting line 10, when the storage front monitoring sensor 86 detects a worker, the replacement robot 50 is not allowed to enter the storage front area 11a, so that the safety of the worker can be ensured. Furthermore, when the storage front monitoring sensor 86 detects a worker, the replacement robot 50 moves at low speed within the adjacent area 11b toward the feeder storage 60, so that the replacement robot 50 is replaced within a range that does not impede the safety of the worker. The robot 50 can be moved. Moreover, since the component mounting line 10 arranges the management device 80 and the collection container 64 within the installation space of the feeder storage 60, the space can be used efficiently.

It goes without saying that the present invention is not limited to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present invention.

For example, in the embodiment described above, the feeder storage 60 is installed at a position upstream of the most upstream component mounter 20, but the present invention is not limited to this. The feeder storage 60 may be installed at a position downstream of the mounting machine 20. Alternatively, the feeder storage 60 may be installed at a position midway in the direction in which the plurality of component mounters 20 are lined up (a position sandwiched between the component mounters 20). Further, although only one feeder storage 60 is installed in the component mounting line 10, a plurality of feeder storages 60 may be installed. FIG. 11 is a configuration diagram showing an outline of the configuration of a modified component mounting line 10B. As shown in the figure, in the component mounting line 10B of the modified example, there is a mounting system at a position upstream of the most upstream component mounting machine 20 and at a position in the middle (approximately intermediate position) in the direction in which the plurality of component mounting machines 20 are lined up. Two feeder storages 60 are installed. In this case, the feeders 30 used in the component mounter 20 between the feeder storage 60 on the upstream side and the feeder storage 60 at the intermediate position are mainly supplied and collected in the feeder storage 60 on the upstream side, and The feeder 30 used in the component mounter 20 on the downstream side of the feeder storage 60 may be mainly supplied or recovered from the feeder storage 60 located at an intermediate position. As a result, even if many component mounting machines 20 are lined up as a plurality of component mounting machines 20 and the total length of the component mounting line 10B becomes long, the movement distance of the exchange robot 50 is prevented from becoming longer than necessary, and the feeder Therefore, it is possible to suppress a decrease in the work efficiency of the automatic exchange of 30 parts. Note that not only the feeder storage 60 but also a plurality of exchange robots 50 may be installed.

In the embodiment described above, the operator carries in and out the feeder 30 into and out of the feeder storage 60, but the present invention is not limited to this, and an automatic conveyance device that can automatically convey the feeder 30 from outside the line of the component mounter 10 may be used. The feeder 30 may be carried in and out of the feeder storage 60 using the feeder storage 60. FIG. 12 is a configuration diagram schematically showing the configuration of component mounting lines 10C and 10D in a modified example. As the automatic transport device, for example, as shown in FIG. 12(a), an OHT (overhead automatic guided vehicle) 90 can be used. When loading and unloading the feeder 30 using the OHT 90, it is necessary that the top of the loading/unloading destination is open, but it is difficult to configure the component mounter 20 so that the top is open due to the structure in which the head 22 is moved. be. The feeder storage 60 does not have such restrictions and the upper part of the storage area 60A can be opened, so that the OHT 90 can automatically carry in and take out the feeders 30. Moreover, as the automatic transport device, as shown in FIG. 12(b), an AGV (floor-based automatic guided vehicle) 100 can be used. If the AGV carries the feeder 30 into and out of each component mounting machine 20, the problem of interference between the movement of the AGV and the movement of the exchange robot 50 may frequently occur. In addition, in order to smoothly carry in and out the feeder 30 by the AGV, it is desirable to provide a guide for positioning the stop position of the AGV. Providing a guide on the component mounter 20 may cause space problems. As in the modified example, the AGV 100 carries in and out the feeder 30 only to the feeder storage 60, thereby preventing interference between the movement of the AGV 100 and the movement of the exchange robot 50 only in the storage front range 11a, Since it is sufficient to provide a guide only in the feeder storage 60, it is possible to prevent these problems from occurring.

In the embodiment described above, the management device 80 and the collection container 64 are arranged within the installation space of the feeder storage 60, but the invention is not limited to this, and one or both of the management device 80 and the collection container 64 may not be arranged. You can also use it as Note that the collection container 64 is not limited to one that collects waste tape, but may be one that collects waste material of a storage member (for example, a tray-shaped member) that stores parts.

In the embodiment described above, when there is a worker in the front area 11a of the storage, the exchange robot 50 moves toward the feeder storage 60 in the adjacent area 11b at a low speed lower than the predetermined speed. The present invention is not limited to this, and the exchange robot 50 may be moved at a predetermined speed.

In the embodiment described above, the storage front monitoring sensor 86 detects (monitors) the presence or absence of a worker in the storage front area 11a, but the present invention is not limited to this. For example, a safety fence that can be pulled out by an operator may be provided between the feeder storage 60 and the adjacent component mounting machine 20, and whether or not the safety fence is pulled out may be detected.

In the embodiment described above, if there is a worker in the front storage range 11a, the exchange robot 50 is stopped without entering the front storage range 11a, but the process is not limited to this. For example, in the feeder exchange process, if it is detected that there is a worker in the front area 11a of the storage, the exchange robot 50 is controlled to first perform a process that can be executed in an area other than the area 11a in front of the storage. You can also use it as

In the embodiment described above, the storage front monitoring sensor 86 and the left and right monitoring sensors 58a, 58b of the exchange robot 50 are used to control the movement of the exchange robot 50, but the present invention is not limited to this. It is also possible to use only the sensors 58a and 58b. In this case, the left and right monitoring sensors 58a and 58b are each configured with a plurality of sensors having a first detection range and a second detection range wider than the first detection range, and the worker is detected in the second detection range. It may be configured such that it moves at low speed when detected, and stops when it detects a worker in the first detection range. Alternatively, even if the movement of the exchange robot 50 is controlled using only the storage front monitoring sensor 86, it is possible for the operator to work safely in the storage front area 11a.

In the embodiment described above, the operator may carry in and out the feeders 30 one by one into the feeder storage 60, or may carry in and out a plurality of feeders 30 at once. For example, the storage area 60A of the feeder storage 60 is configured such that a magazine to which a plurality of feeders 30 can be attached and detached at once can be set. Then, the operator attaches a plurality of new feeders 30 to the magazine and replenishes the storage area 60A, or when a plurality of used feeders 30 are attached to the magazine in the storage area 60A, the operator collects the magazine. In this case, the operator may use a cart that can mount the magazine to replenish and collect the magazine. In addition, the storage area 60A of the feeder storage 60 is configured such that a truck loaded with such a magazine can be set, so that even if the work vehicle replaces each truck (including the feeder 30 in the magazine on the truck), good.

In the embodiment described above, the component mounting machine 20 includes the feeder stock area 20B, but it may not include the feeder stock area 20B. In this case, the exchange robot 50 may not include the lower transfer area 50B, or the lower transfer area 50B may be used as a stock area for the feeder 30 in the exchange robot 50. Moreover, the exchange robot 50 may be configured to accommodate a plurality of feeders 30 and to be able to exchange the plurality of feeders 30 at once.

INDUSTRIAL APPLICATION This invention can be utilized for the manufacturing industry of a component mounting line, etc.

10, 10B, 10C, 10D Component mounting line, 11a Range in front of storage, 11b Adjacent range, 11c Non-adjacent range, 12 Printing machine, 14 Print inspection machine, 18 X-axis rail, 20 Component mounting machine, 20A Supply area, 20B Stock area, 21 Board transport device, 22 Head, 23 Head moving mechanism, 24 Tape duct, 25 Tape cutter, 26 Tape chute, 27 Waste tape transport device, 28 Mounting control device, 30 Feeder, 32 Tape reel, 33 Tape feeding mechanism , 34 positioning pin, 35 connector, 37 rail member, 39 feeder control device, 40 feeder stand, 42 slot, 44 positioning hole, 45 connector, 50 exchange robot, 50A upper transfer area, 50B lower transfer area, 51 robot movement mechanism, 52a X-axis motor, 52b guide roller, 53 feeder transfer mechanism, 54 clamp section, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 56a Z-axis motor, 56b Z-axis guide rail, 57 encoder , 58a Left side monitoring sensor, 58b Right side monitoring sensor, 59 Robot control device, 60 Feeder storage, 60A Storage area, 61 Housing, 62 Substrate transport device, 63A Lower space, 63B Opening, 64 Collection container, 65A Storage section, 65B Stand, 80 Management device, 80a CPU, 80b ROM, 80c HDD, 80d RAM, 82 Display, 84 Input device, 86 Storage front monitoring sensor, 90 OHT, 100 AGV, S board.

Claims (10)

A component mounting line in which a component supply unit is detachably set, and a plurality of component mounters for mounting components supplied by the component supply unit onto a mounting target are arranged side by side along the conveyance direction of the mounting target. ,
a unit storage for storing a plurality of the component supply units;
a unit exchange device capable of exchanging the component supply units attached to the plurality of component mounting machines and the component supply units stored in the unit storage;
a control device that controls the unit exchange device;
Equipped with
The unit storage is installed in the same line as the plurality of component mounting machines,
The control device controls the unit exchange device to move within a predetermined movement range along the transport direction and replace the component supply unit. A component mounting line. The component mounting line according to claim 1,
The unit storage is installed at a position upstream of the most upstream component mounter or downstream of the most downstream component mounter in the direction in which the plurality of component mounters are lined up. The component mounting line according to claim 2,
The unit storage is installed not only at the upstream position or the downstream position but also at an intermediate position in the arrangement of the plurality of component mounting machines. The component mounting line according to any one of claims 1 to 3,
The unit storage includes a transport device that transports the object to be mounted in the transport direction. A component mounting line. The component mounting line according to any one of claims 1 to 4,
The unit storage has a common configuration with a configuration in which the component supply unit is removably set in the component mounting machine,
The unit replacement device is configured to attach and detach the component supply unit in the component mounter and to attach and detach the component supply unit in the unit storage in a common operation using the same mechanism.The component mounting line. The component mounting line according to any one of claims 1 to 5,
The unit storage allows the parts supply unit to be brought in and taken out by an operator,
comprising a detector that detects the presence or absence of a worker within a predetermined range including the front of the unit storage within the movement range;
The control device controls the unit exchange device so as not to move within the predetermined range when the detector detects a worker. The component mounting line. The component mounting line according to claim 6,
The control device is configured to move within the movement range excluding the predetermined range at a slower speed when the detector detects the worker than when the detector does not detect the worker. A component mounting line capable of controlling the unit replacement device. The component mounting line according to any one of claims 1 to 7,
A component mounting line in which the component supply unit can be carried in and out of the unit storage by an automatic transport device that automatically transports the component supply unit from outside the component mounting line. The component mounting line according to any one of claims 1 to 8,
comprising a management device that manages mounting of the component mounting machine,
The management device can be placed in the installation space of the unit storage. A component mounting line. The component mounting line according to any one of claims 1 to 9,
The component supply unit supplies the component to the component mounter by sending out a housing member that accommodates the component,
a waste material transport device that transports waste material from the storage member after the components have been supplied from the component supply unit to the component mounter to an installation space of the unit storage;
Equipped with
A collection container for collecting the waste material transported by the waste material transport device can be arranged in the installation space of the unit storage. A component mounting line.

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