JP6846556B2 - Production line safety system control method - Google Patents

Description

The present invention relates to a safety system control method for a production line in which work devices move along an array of a plurality of production devices arranged in a row.

For example, in a component mounting board production line in which components are mounted on a circuit board to produce a component mounting board, as described in Patent Document 1 (International Publication WO2014 / 010083), a circuit board transport path is used. Along the line, a plurality of component mounting machines are arranged in a row to form a component mounting board production line, and an automatic replacement device (replacement robot) is provided in a moving lane provided along the front side of these multiple component mounting machines. Is movably installed, and this automatic replacement device is moved to the front of the component mounting machine specified in the production job (production program), etc., and the feeder is set or removed from the feeder set part of the component mounting machine. There is something like that. In this device, power is supplied to the automatic switching device by wireless power supply (contactless power transmission) from the component mounting machine side.

International Publication WO2014 / 010083

By the way, during the operation of the component mounting board production line, in order to set and remove the feeder to the feeder set part of each component mounting machine, the automatic switching device moves the moving lane on the front side of a plurality of component mounting machines. Since it moves, if a worker or an object enters the moving area of the automatic switching device, it may collide with the automatic switching device. Generally, an emergency stop switch is provided on the component mounting board production line, and when an operator feels some danger, the emergency stop switch is operated to make an emergency stop from the component mounting board production line side to the automatic switching device. The signal is transmitted (the transmission of the safety signal is stopped), and the automatic switch is stopped in an emergency.

In this case, since the communication between the component mounting machine for wireless power supply and the automatic switching device is performed by wireless communication, the safety signal is also transmitted from the component mounting board production line side to the automatic switching device by wireless communication. Generally, during the operation of the component mounting board production line, a safety signal is transmitted from the component mounting board production line side to the automatic replacement device at a predetermined cycle, and the automatic replacement device receives the safety signal to confirm the safety. When the operator moves and operates the emergency stop switch, the transmission of the safety signal to the automatic switching device is stopped and the automatic switching device is stopped in an emergency. In such a system, when the automatic switching device cannot receive the safety signal momentarily due to a momentary power failure or noise, the safety signal is output a predetermined number of times in order to prevent an immediate erroneous determination of "emergency stop". There is a device that determines "emergency stop" when continuous reception is not possible.

However, in this configuration, the automatic switching device does not determine "emergency stop" until the safety signal cannot be received continuously a predetermined number of times, so that when a dangerous state actually occurs, it is determined to be "emergency stop". There will be a slight time delay, and the timing to stop the automatic switching device in an emergency will be slightly delayed. In addition, since wireless communication needs to be applied for and approved for use in each country, it takes a certain period of time and cost to be approved.

The problems described above are not limited to the component mounting board production line, but are common to various production lines that employ wireless power supply.

In order to solve the above problems, the present invention is a safety system control method for a production line in which work devices move along an arrangement of a plurality of production devices arranged in a row, and a monitoring unit of the work device is used. A step of monitoring whether or not a person or an object has invaded the monitoring area around the work device, a step of moving the work device by the drive unit of the work device, and the monitoring of the control unit of the work device. A step of controlling the operation of the unit and the drive unit, a process of supplying power from the plurality of production devices to the work device, and the monitoring unit, the control unit, and the drive unit using the supplied power as a power source. And when the monitoring unit detects the intrusion of a person or an object into the monitoring area, the power supply to the drive unit is cut off and the power supply to the monitoring unit and the control unit is maintained. The first feature is that each of the plurality of production devices includes a transmission unit for supplying power to the work device, and the work device is the plurality of production devices. The work device is provided with a power receiving unit that receives power supplied from the power transmitting unit of the production device facing the production line, the production line is provided with an emergency stop switch that can be operated by a person, and the emergency stop switch is emergency. The second feature is to include a step of turning off the power supply of the power transmission unit of the production apparatus when the stop operation is performed.

In the present invention, when the work device moves along an array of a plurality of production devices constituting the production line, the monitoring unit monitors whether or not a person or an object has invaded the monitoring area around the work device. Then, when this monitoring unit detects the intrusion of a person or an object into the monitoring area, the power supply to the driving unit of the working device is cut off, and the working device is stopped in an emergency. As a result, it is possible to prevent the work device from colliding with a person or an object that has invaded the monitoring area around the work device, and it is possible to improve safety. Moreover, since the safety circuit section of the work device maintains the power supply to the monitoring section and the control section even during the period when the work device is in an emergency stop, people and objects in the monitoring area even during the emergency stop of the work device. Intrusion can be monitored, and the control unit of the work device can continue processing, and when a person or object that has invaded the monitoring area leaves the monitoring area, the movement of the work device is promptly resumed. be able to.

In this case, the movement of the work device may be restarted manually by the operator, but when the monitoring unit detects that a person or an object that has invaded the monitoring area has left the monitoring area. In addition, the power supply to the drive unit may be automatically restarted. As a result, when the monitoring unit detects that a person or an object has come out of the monitoring area, the movement of the work device can be automatically restarted, and the emergency stop time can be minimized.

Further, each of the plurality of production devices is provided with a power transmission unit for wireless power supply, and the work device is installed from the wireless power transmission unit of the production device to which the work device is opposed to the plurality of production devices. It is equipped with a power receiving unit that receives power that is wirelessly supplied, and the production line is equipped with a human-operable emergency stop switch that wirelessly supplies power to the power transmission unit of the production equipment when the emergency stop switch is operated. You may turn it off. In this way, when a person operates the emergency stop switch to make an emergency stop, the wireless power supply of the power transmission unit of the production equipment is immediately turned off and the power supply to the work equipment is cut off, so that the work equipment is immediately stopped. Can be made to. In this case, since the emergency stop switch and the power transmission unit of each production device can be connected by wire, the problem of time delay at the time of emergency stop due to the above-mentioned wireless communication and the problem of licensing in each country do not occur.

The present invention can be applied to any production line as long as the work equipment moves along an arrangement of a plurality of production equipment. For example, a component mounting machine can be installed in a plurality of production equipment. The work device may be an automatic replacement device that is applied to the component mounting board production line including the component mounting machine and automatically replaces the feeder for supplying parts to be set in the feeder set portion of the component mounting machine. As a result, the safety of the component mounting board production line with the automatic switching device can be improved.

FIG. 1 is a perspective view showing the configuration of the entire component mounting board production line according to the embodiment of the present invention. FIG. 2 is a plan view of a monitoring area around the automatic switching device and a component mounting board production line for explaining wireless power supply. FIG. 3 is a perspective view schematically showing the configurations of the automatic switching device and the component mounting machine. FIG. 4 is a perspective view showing a cassette type feeder. FIG. 5 is a block diagram schematically showing the configuration of a control system of a component mounting board production line with an automatic switching device. FIG. 6 is a perspective view showing a configuration of a driving device for moving the automatic switching device and a peripheral portion thereof. FIG. 7 is a side view showing a configuration of a driving device for moving the automatic switching device and a peripheral portion thereof.

Hereinafter, an embodiment in which the embodiment for carrying out the present invention is applied to a component mounting substrate production line will be described.

First, the configuration of the component mounting board production line 10 will be described with reference to FIGS. 1 to 5.
The component mounting board production line 10 (production line) is configured by arranging a plurality of component mounting machines 12 (production devices) along the transport direction (X direction) of the circuit board 11, and the component mounting board production line 10 On the board carry-in side of the above, a solder printing machine (not shown) for printing solder on the circuit board 11 and a feeder storage device 19 (production device) for storing a cassette type feeder 14 are installed.

As shown in FIG. 3, each component mounting machine 12 has two conveyors 13 that convey the circuit board 11 and a suction nozzle that sucks the components supplied from the cassette type feeder 14 and mounts them on the circuit board 11. A mounting head 15 for holding (not shown), a head moving device 16 for moving the mounting head 15 in the XY directions (left-right and front-back directions), and a component imaging device for capturing images of components sucked on the suction nozzle from the lower surface side thereof. A camera 17 (see FIG. 5) and the like are provided. A mark imaging camera 18 (see FIG. 5) that captures a reference mark (not shown) of the circuit board 11 is attached to the head moving device 16 so as to move integrally with the mounting head 15 in the XY directions. ..

In addition, as shown in FIG. 5, the control device 20 of the component mounting machine 12 includes an input device 21 such as a keyboard, a mouse, and a touch panel, and a hard disk, RAM, ROM, etc. for storing various control programs and various data. The storage device 22 (storage means) of the above is connected to a liquid crystal display, a display device 23 such as a CRT, and the like. The control device 20 of each component mounting machine 12 is connected to a production control computer 70 that manages the production of the entire component mounting board production line 10 via a network, and the production control computer 70 manages the production of the component mounting board production line 10. To.

Each component mounting machine 12 of the component mounting board production line 10 conveys the circuit board 11 conveyed from the component mounting machine 12 on the upstream side to a predetermined position by the conveyor 13, and uses a clamping mechanism (not shown) to convey the circuit board. 11 is clamped and positioned, and the reference mark of the circuit board 11 is imaged by the mark imaging camera 18 to recognize the position of the reference mark (reference position of the circuit board 11), and the cassette type feeder 14 is used. The component supplied from is sucked by the suction nozzle of the mounting head 15, moved from the suction position to the imaging position, and the component is imaged from the lower surface side by the component imaging camera 17, and the suction position of the component is taken. After determining the deviation amount and the like, the suction position deviation amount is corrected and the component is mounted on the circuit board 11 on the conveyor 13 to produce a component mounting board.

Next, the configuration of the cassette type feeder 14 will be described with reference to FIG.
The cassette case 32 of the cassette type feeder 14 is formed of a transparent or opaque plastic plate, a metal plate, or the like, and its side surface portion (cover) can be opened and closed. Inside the cassette case 32, a tape loading unit 35 is provided for removably (replaceably) loading the tape reel 34 around which the component supply tape 33 is wound. A reel holding shaft 36 that rotatably holds the tape reel 34 is provided at the center of the tape loading portion 35.

Inside the cassette case 32, a tape feeding mechanism 38 that sends the component supply tape 33 pulled out from the tape reel 34 to the component suction position, and a top film 40 (also called a cover tape) from the component supply tape 33 in front of the component suction position. A top film peeling mechanism 39 is provided for peeling to expose the parts in the part supply tape 33.

The tape feed mechanism 38 is composed of a sprocket 42 provided near the lower part of the component suction position, a motor 43 for rotationally driving the sprocket 42, and the like, and is formed on one side edge of the component supply tape 33 at a predetermined pitch. By engaging the teeth of the sprocket 42 with the tape feed hole and rotating the sprocket 42, the component supply tape 33 is pitch-fed to the component suction position.

The top film peeling mechanism 39 holds the component supply tape 33 in front of the component suction position to peel the top film 40 from the upper surface of the component supply tape 33, and the top film peeled by the tape presser 45. A top film feed gear mechanism 47 that pulls 40 in the direction opposite to the tape feed direction and feeds it into the top film recovery unit 46 provided on the upper part of the cassette case 32, a motor 48 that drives the top film feed gear mechanism 47, and the like. It is composed of.

At the edge of the cassette case 32 on the tape feed direction side, a waste tape 33a (only the carrier tape from which the top film 40 has been peeled off in this embodiment) from which the parts have been taken out after passing through the component suction position is placed below. The waste tape discharge passage 50 for guiding and discharging the waste tape is provided so as to extend downward, and the outlet 50a of the waste tape discharge passage 50 is provided at a position below the center of the end surface of the cassette case 32 on the tape feed direction side. ing.

Inside the cassette case 32, a control device 52 for controlling the motor 43 of the tape feeding mechanism 38 and the motor 48 of the top film peeling mechanism 39 is provided. In addition, although not shown, the cassette case 32 is provided with a communication / power supply connector connected to a communication / power supply connector on the component mounting machine 12 side.

As shown in FIG. 1, on the front side of the component mounting board production line 10, an automatic switching device 26 (working device) that sets and removes a cassette type feeder 14 to the feeder setting unit 24 of each component mounting machine 12. Is installed. Below the feeder set portion 24 of each component mounting machine 12, a stock portion 71 for accommodating a plurality of feeders 14 to be set in the feeder set portion 24 is provided. The automatic switching device 26 takes out the feeder 14 to be replaced from the feeder set unit 24 of the plurality of component mounting machines 12 and collects it in the stock unit 71, and also collects the feeder 14 designated by the production job (production program) from the stock unit 71. Is taken out and set in the feeder set unit 24 of the plurality of component mounting machines 12.

On the front side of the component mounting board production line 10, a guide rail 74 for moving the automatic switching device 26 in the left-right direction (X direction) along the arrangement of the component mounting machines 12 is provided in the entire component mounting board production line 10 in the X direction. It is provided so as to extend. The board carry-in side of the guide rail 74 is extended to the feeder storage device 19, the automatic switching device 26 is moved to the front side of the feeder storage device 19, and the automatic switching device 26 is designated by the feeder storage device 19 in the production job. The feeder 14 is taken out, and the used feeder 14 is returned to the feeder storage device 19.

As shown in FIG. 6, on the back side of the automatic switching device 26, a plurality of guide rollers 54 for regulating the Y direction, which regulate the movement of the automatic switching device 26 in the Y direction (direction orthogonal to the X direction), and automatic A plurality of guide rollers 55 for Z direction regulation that regulate the movement of the switching device 26 in the Z direction (vertical direction) are rotatably provided alternately, and guide rollers 54 for Y direction regulation are provided on the side wall of the guide rail 74. The guide roller 55 for regulating the Z direction rolls along the plane of the guide rail 74, so that the moving direction of the automatic switching device 26 is guided only in the X direction.

The space on the front side of the component mounting board production line 10 is a moving lane in which the automatic switching device 26 moves in the X direction, and the moving rail 75 is provided on the guide rail 74 on the front side of the component mounting board production line 10. It is provided so as to extend in the X direction. On the other hand, as shown in FIGS. 6 and 7, the automatic switching device 26 includes a motor 78 (drive unit) that rotationally drives a drive wheel 76 formed of an elastic material such as rubber via a belt transmission mechanism 77. Is provided, and the drive wheel 76 rolls along the moving rail 75 to drive the automatic switching device 26 in the X direction.

As shown in FIG. 2, a power transmission unit 81 for wireless power supply is provided on the front side of each component mounting machine 12 and the feeder storage device 19, and the automatic switching device 26 is equipped with components facing the automatic switching device 26. A power receiving unit 82 that receives power wirelessly supplied from the power transmitting unit 81 of the machine 12 or the power transmitting unit 81 of the feeder storage device 19 is provided. The wireless power transmission unit 81 and the power reception unit 82 are configured to function as a visible light communication unit that communicates various control signals, data signals, and the like between the component mounting machine 12 and the automatic switching device 26.

Further, the automatic switching device 26 is provided with a monitoring unit 84 that monitors whether or not a person or an object has invaded the monitoring area 83 around the automatic switching device 26. The monitoring unit 84 is configured by using, for example, a safety laser scanner. The monitoring area 83 is an area in which when a person or an object invades this area, the automatic switching device 26 is stopped in an emergency in order to avoid a collision between them and the automatic switching device 26. The size of the monitoring area 83 can be arbitrarily changed by the user.

As shown in FIG. 5, in the automatic switching device 26, the power supply circuit unit 86 that operates the monitoring unit 84, the control unit 85, and the motor 78 using the electric power received by the power receiving unit 82 as a power source, and the monitoring unit 84 are in the monitoring area 83. It is configured to include a safety circuit unit 87 that turns off the relay switch 88 to cut off the power supply to the motor 78 when it detects the intrusion of a person or an object into the motor 78. With this configuration, when the monitoring unit 84 detects the intrusion of a person or an object into the monitoring area 83, the safety circuit unit 87 turns off the relay switch 88 of the automatic switching device 26 to cut off the power supply to the motor 78. The automatic switching device 26 is stopped in an emergency, but the power supply to the monitoring unit 84 and the control unit 85 is maintained even during the period when the automatic switching device 26 is in an emergency stop, and the automatic switching device 26 is monitored even during the emergency stop. The unit 84 monitors the intrusion of people and objects into the monitoring area 83, and the control unit 85 continues processing, indicating that the people and objects that have invaded the monitoring area 83 have left the monitoring area 83. When it is detected, the safety circuit unit 87 of the automatic switching device 26 turns on the relay switch 88 to restart the power supply to the motor 78, and restarts the movement of the automatic switching device 26.

On the other hand, as shown in FIG. 2, the component mounting board production line 10 is provided with an emergency stop switch 91 at a position where a person can operate it, and relays when the emergency stop switch 91 is operated for an emergency stop. An emergency stop circuit unit 92 is provided that turns off the switch 93 to turn off the wireless power supply of the power transmission unit 81. With this configuration, when the operator operates the emergency stop switch 91 in an emergency, the emergency stop circuit unit 92 turns off the relay switch 93 and turns off the wireless power supply of the power transmission unit 81 to supply power to the automatic switching device 26. The automatic switching device 26 is shut off and the automatic switching device 26 is stopped in an emergency.

According to the present embodiment described above, when the automatic replacement device 26 moves along the arrangement of a plurality of component mounting machines 12 constituting the component mounting board production line 10, the periphery of the automatic replacement device 26 is monitored. The monitoring unit 84 monitors whether or not a person or object has invaded the area 83, and when the monitoring unit 84 detects the intrusion of a person or object into the monitoring area 83, the safety circuit of the automatic switching device 26 Since the power supply to the motor 78 is cut off by the unit 87 and the automatic switching device 26 is stopped in an emergency, the automatic switching device 26 can be used by a person or an object that has invaded the monitoring area 83 around the automatic switching device 26. Collision can be avoided and safety can be improved. Moreover, even during the period when the automatic switching device 26 is in an emergency stop, the safety circuit unit 87 of the automatic switching device 26 maintains the power supply to the monitoring unit 84 and the control unit 85, so that the automatic switching device 26 is also in an emergency stop. The intrusion of people and objects into the monitoring area 83 can be monitored, and the control unit 85 of the automatic switching device 26 can continue the process. As a result, when it is detected that a person or an object that has invaded the monitoring area 83 has left the monitoring area 83, the movement of the automatic switching device 26 can be automatically restarted, and the emergency stop time can be reached. Can be minimized.

However, in the present invention, the operator may manually restart the movement of the automatic switching device 26.

Further, in this embodiment, a human-operable emergency stop switch 91 and a wireless power supply of the power transmission unit 81 of the component mounting machine 12 when the emergency stop switch 91 is operated to the component mounting board production line 10 are wirelessly supplied. Since the emergency stop circuit unit 92 for turning off the power is provided, when a person performs an emergency stop operation of the emergency stop switch 91, the power supply to the automatic switching device 26 is immediately cut off and the automatic switching device 26 is stopped in an emergency. be able to. In this case, since the emergency stop switch 91 and the power transmission unit 81 of each component mounting machine 12 can be connected by wire, the problem of time delay at the time of emergency stop due to the above-mentioned wireless communication and the problem of permission and approval for each country do not occur.

The present invention is not limited to the above embodiment. For example, the automatic switching device 26 is also provided with an emergency stop switch, and when a person performs an emergency stop operation of the emergency stop switch, the automatic switching device 26 is emergency-stopped. Alternatively, a plurality of automatic switching devices may be arranged on one component mounting board production line.

In addition, according to the present invention, the configuration of the safety circuit section 87 of the automatic switching device 26 may be changed, the configuration of the emergency stop circuit section 92 of the component mounting board production line 10 may be changed, and the configuration of the component mounting machine 12 may be changed. The configuration and the configuration of the automatic switching device 26 may be appropriately changed, and the configuration of the feeder 14 may be appropriately changed.

Further, the production line to which the present invention can be applied is not limited to the component mounting substrate production line, and can be applied to any production line as long as the work equipment moves along the arrangement of a plurality of production equipment. Needless to say, it can be implemented with various changes within the range that does not deviate from the gist.

10 ... Parts mounting board production line (production line), 11 ... Circuit board, 12 ... Parts mounting machine (production equipment), 13 ... Conveyor, 14 ... Cassette type feeder, 15 ... Mounting head, 16 ... Head moving device, 20 ... Control device for component mounting machine, 26 ... Automatic switching device (working device), 54 ... Guide roller for Y direction regulation, 55 ... Guide roller for Z direction regulation, 70 ... Production control computer, 71 ... Stock section, 74 ... guide rail, 75 ... moving rail, 76 ... drive wheel, 77 ... belt transmission mechanism, 78 ... motor (drive unit), 81 ... power transmission unit, 82 ... power receiving unit, 83 ... monitoring area, 84 ... monitoring unit, 85 ... Control unit of automatic switching device, 86 ... Power supply circuit unit, 87 ... Safety circuit unit, 88 ... Relay switch, 91 ... Emergency stop switch, 92 ... Emergency stop circuit unit, 93 ... Relay switch

Claims (4)

It is a safety system control method for a production line in which work equipment moves along an array of multiple production equipment arranged in a row.
A process in which the monitoring unit of the work device monitors whether or not a person or an object has invaded the monitoring area around the work device.
The process in which the drive unit of the work device moves the work device,
A process in which the control unit of the work device controls the operations of the monitoring unit and the drive unit, and
A process of supplying electric power from the plurality of production devices to the work device, and
A step of operating the monitoring unit, the control unit, and the driving unit using the supplied electric power as a power source.
Look including the step of the monitoring unit maintains the power supply to the shut off the power supply to the drive unit when detecting the intrusion of a person or an object in the monitoring area and the monitoring unit and the control unit ,
Each of the plurality of production devices includes a power transmission unit that supplies electric power to the work device.
The working device includes a power receiving unit that receives power supplied from the power transmitting unit of the production device on which the working device is opposed to the plurality of production devices.
The production line is equipped with a human-operable emergency stop switch.
A production line safety system control method comprising a step of turning off the power supply of a power transmission unit of the production apparatus when the emergency stop switch is operated to make an emergency stop. A claim comprising a step of restarting power supply to the drive unit when the monitoring unit detects that a person or an object that has entered the monitoring area has left the monitoring area. The safety system control method for a production line according to 1. Wherein each of the plurality of production apparatus includes the power transmitting unit for wireless power supply,
The working device, the safety system control method for a production line according to claim 1 or 2, characterized in that Ru with the power receiving portion which receives electric power wirelessly fed from the power transmission portion before Symbol wireless power supply. The production line is a component mounting board production line that includes a component mounting machine in the plurality of production devices.
The safety of the production line according to any one of claims 1 to 3, wherein the working device is an automatic replacement device for automatically replacing a feeder for supplying parts set in a feeder set portion of the component mounting machine. System control method.

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