JP7177853B2 - running gear - Google Patents

Description

The present invention relates to a traveling device.

The traveling device is used for a predetermined work such as transporting an object. Patent Literature 1 discloses a replacement device that includes a traveling device that conveys a feeder as an object and that replaces the feeder with a component mounting machine. There is a type of traveling device that travels on electric power supplied by external contactless power supply or electric power supplied from a battery without using a power cable. The traveling device of the type described above includes a grounding device that grounds to the outside using, for example, a spring or a brush. As a result, the traveling device is designed to eliminate the charged state of the device main body due to static electricity or the like.

WO2014/010083

However, when the traveling device travels with springs, brushes, and the like in contact with the outside, sliding resistance is generated between the traveling device and the outside. As a result, the load during running increases, and periodic maintenance is required due to the wear of the sliding parts. There is a demand for the traveling device to appropriately eliminate the electrified state and to improve maintainability.

SUMMARY OF THE INVENTION An object of the present specification is to provide a traveling device capable of appropriately eliminating a charged state and improving maintainability.

The present specification includes a movable part provided to be able to travel along a travel path, and the movable part provided in the movable part and driven by electric power supplied by external contactless power supply or electric power supplied from a battery. a drive unit for running the movable portion; and a grounded state in which the movable portion is electrically grounded to a fixed portion on the running path side, which is provided in the movable portion, and a non-grounded state in which the movable portion is not grounded. and a switching device.

According to such a configuration, the movable portion is electrically grounded to the fixed portion by the switching device, whereby the charged state of the movable portion can be appropriately eliminated. Therefore, it is possible to further improve safety when an operator performs work such as maintenance on the movable part. Moreover, by switching to the non-grounded state by the switching device, it is possible to prevent an increase in the load during running, and to improve maintainability by adopting a configuration that does not have a sliding portion.

It is a perspective view which shows the production line to which the traveling apparatus in embodiment was applied. FIG. 2 is a perspective view showing the outline of the configuration of the traveling device and the component mounter in FIG. 1; FIG. 2 is a side view showing the traveling device in FIG. 1; 4 is a flow chart showing switching processing for switching between a grounded state and a non-grounded state of the traveling device;

1. Outline of Travel Device Hereinafter, an embodiment in which a travel device is embodied will be described with reference to the drawings. The travel device constitutes an exchange system for transporting objects. The exchange system exchanges a replacement element with the component mounting machine, targeting at least one of various replacement elements mounted on the component mounting machine. In the present embodiment, a mode in which a replacement system having a travel device is applied to a production line configured by a plurality of component mounting machines will be exemplified.

2. Configuration of Production Line 1 As shown in FIG. 1, the production line 1 is configured by arranging a plurality of component mounting machines 10 side by side in the conveying direction of the board 90 (see FIG. 2). A feeder storage device 5 used to store a cassette-type feeder 20 is installed on the substrate loading side (left side in FIG. 1) of the production line 1 . Also, the production line 1 may include, for example, a screen printer, an inspection machine, a reflow oven, and the like.

In the present embodiment, a traveling device 50 is applied to the production line 1 as a work device for performing predetermined work on each of the component mounting machines 10 and the feeder storage devices 5 . Each device and traveling device 50 constituting the production line 1 are configured to be capable of inputting/outputting various data to/from the management device 6 via a network (not shown). A detailed configuration of the travel device 50 will be described later.

The feeder storage device 5 has multiple slots. The feeder storage device 5 stocks the feeders 20 each equipped in a plurality of slots. The feeder 20 installed in the slot of the feeder storage device 5 becomes communicable with the management device 6 . As a result, the slot of the feeder storage device 5 and the identification code (ID) of the feeder 20 installed in the slot are associated and recorded in the management device 6 .

The management device 6 monitors the operation status of the production line 1 and controls production equipment including the component mounting machine 10 , the feeder storage device 5 and the traveling device 50 . Various data for controlling the component mounting machine 10 are stored in the management device 6 . The management device 6 appropriately sends various data such as a control program to each production facility when executing production processing in each production facility.

3. Configuration of Component Mounting Machine 10 A plurality of component mounting machines 10 constituting the production line 1 are provided with a board transfer device 11, a component supply device 12, and a head driving device 13, as shown in FIG. In the following description, the X direction is the horizontal width direction of the component mounting machine 10 and the conveying direction of the board 90, the Y direction is the horizontal depth direction of the component mounting machine 10, and the vertical direction perpendicular to the X and Y directions (see FIG. 2) is the Z direction.

The substrate transport device 11 is composed of a belt conveyor, a positioning device, and the like. The substrate conveying device 11 sequentially conveys the substrates 90 in the conveying direction and positions the substrates 90 at predetermined positions within the apparatus. After the mounting process by the component mounting machine 10 is completed, the board transfer device 11 carries the board 90 out of the component mounting machine 10 .

The component supply device 12 supplies components to be mounted on the board 90 . The component supply device 12 has an upper slot 121 and a lower slot 122 in which the feeder 20 can be installed. The upper slot 121 is arranged in the upper part of the front side of the component mounter 10 and operably holds the feeder 20 mounted thereon. In other words, the feeder 20 provided in the upper slot 121 is controlled in operation during the mounting process by the component mounting machine 10, and supplies components at a pickup section provided at a specified position above the feeder 20. FIG.

The lower slot 122 is positioned below the upper slot 121 to stock the feeder 20 that is equipped. That is, the lower slot 122 preliminarily holds the feeder 20 used in production or temporarily holds the used feeder 20 used in production. The exchange of the feeder 20 between the upper slot 121 and the lower slot 122 is performed by automatic exchange by the traveling device 50 described later or manual exchange by the operator.

Further, when the feeder 20 is installed in the upper slot 121 or the lower slot 122 of the component supply device 12, power is supplied from the component mounting machine 10 via a connector. Then, the feeder 20 becomes ready for communication with the component mounting machine 10 . The feeder 20 provided in the upper slot 121 controls the feeding operation of the carrier tape containing components based on control commands from the component mounting machine 10 and the like. As a result, the feeder 20 supplies the component so that it can be picked up by a holding member of the mounting head 30, which will be described later, at the pick-up portion provided in the upper portion of the feeder 20. As shown in FIG.

The head drive device 13 transfers the components supplied by the component supply device 12 to a predetermined mounting position on the substrate 90 carried into the machine by the substrate transfer device 11 . The head driving device 13 moves the moving table 131 in the horizontal direction (X direction and Y direction) by a linear motion mechanism. The mounting head 30 is exchangeably fixed to the moving table 131 by a clamp member (not shown). The mounting head 30 picks up a component, adjusts the vertical position and angle of the component, and mounts it on the board 90 .

Specifically, the mounting head 30 is attached with a holding member that holds the components supplied by the feeder 20 . As the holding member, for example, a suction nozzle that holds the component by means of supplied negative pressure air, a chuck that grips and holds the component, or the like can be applied. The mounting head 30 holds the holding member movably in the Z direction and rotatable around the θ axis parallel to the Z axis. The mounting head 30 is moved in the XY directions by the linear motion mechanism of the head driving device 13 .

The component mounting machine 10 configured as described above performs a mounting process for mounting a component on the board 90 . In the mounting process, the component mounter 10 sends a control signal to the head driving device 13 based on the result of image processing, the result of detection by various sensors, a control program stored in advance, and the like. Thereby, the positions and angles of the plurality of suction nozzles supported by the mounting head 30 are controlled.

Note that the suction nozzle held by the mounting head 30 is appropriately changed according to the type of component to be mounted on the board 90 in the mounting process. The component mounting machine 10 causes the mounting head 30 to hold a suction nozzle housed in a nozzle station (not shown) when the mounting head 30 does not hold the suction nozzle used in the mounting process to be executed. The nozzle station described above is detachably installed at a predetermined position inside the component mounting machine 10 .

4. Configuration of Replacement System 40 and Travel Device 50 The replacement system 40 includes a first rail 41, a second rail 42, and a travel device 50, as shown in FIGS. The first rail 41 and the second rail 42 are fixed portions provided in front portions of the plurality of component mounting machines 10, as shown in FIG. In the present embodiment, the first rail 41 and the second rail 42 are made of an electric conductor and constitute the travel path of the travel device 50 .

The first rail 41 is provided vertically between the upper slot 121 and the lower slot 122 in each of the component mounting machines 10 . The second rail 42 is provided below the lower slot 122 of the component mounting machine 10 . The first rail 41 and the second rail 42 extend over substantially the entire area in the transport direction of the substrate 90 in the production line 1 .

Also, as shown in FIG. 3, the first rail 41 is formed in a groove shape opening upward. A pair of side wall portions of the first rail 41 are provided with a plurality of magnets 43 arranged in the X direction. Each of the magnets 43 is arranged so that N poles and S poles appear alternately in the X direction. A linear scale 44 extending in the X direction is provided on the upper surface of the first rail 41 . A pair of power transmission units 45 are arranged in the Y direction in the groove bottom of the first rail 41 . The pair of power transmission units 45 are power transmission coils extending in the X direction. The pair of power transmission units 45 supplies electric power in a non-contact manner to the power reception unit 52 of the travel device 50, which will be described later.

Further, the pair of side wall portions of the first rail 41 rollably support a plurality of first guide rollers 512 that constitute the movable portion 51 of the traveling device 50 to be described later. Further, a running groove 46 is formed in the center of the groove bottom of the first rail 41 in the Y direction to support a plurality of running rollers 514 constituting the movable portion 51 so as to be able to roll. The second rail 42 rotatably supports a second guide roller 513 that constitutes the movable portion 51 of the traveling device 50 described later. With the configuration as described above, the first rail 41 and the second rail 42 support the traveling device 50 in the vertical direction and also support the traveling device 50 so as to suppress tilting thereof.

Traveling device 50 includes movable portion 51 , power receiving portion 52 , driving portion 53 , position detecting portion 54 , working robot 55 , maintenance switch 56 , human sensor 57 , and control device 58 . The movable portion 51 is the main body of the travel device 50 . The movable portion 51 is provided so as to be able to travel along a travel path formed by the first rail 41 and the second rail 42 . The movable portion 51 has a bracket 511 , first guide rollers 512 , second guide rollers 513 and running rollers 514 .

Bracket 511 is a frame member that supports drive unit 53, switching device 60, and the like. The first guide roller 512 is provided on the bracket 511 and is rotatably engaged with the upper portion of the first rail 41 . At this time, the first guide roller 512 is allowed to move in the X direction, and is restricted from moving in the Y and Z directions. A second guide roller 513 is provided on the bracket 511 and rolls along the second rail 42 .

The running rollers 514 are arranged in the Y direction and arranged in a pair on the bracket 511 so as to be able to roll on a pair of side walls of the running groove 46 formed in the groove bottom of the first rail 41 . With such a configuration, the movable portion 51 can travel along the travel path formed by the first rail 41 and the second rail 42 while maintaining the posture of the travel device 50 .

The power receiving unit 52 is provided so as to form a pair on the outside of the running roller 514 in the Y direction in the bracket 511 . In this embodiment, each of the pair of power receiving units 52 is a power receiving coil extending in the X direction. The power receiving unit 52 faces any power transmitting unit 45 provided on the first rail 41 regardless of the position of the movable unit 51 in the X direction. As a result, power transmission unit 45 and power reception unit 52 approach each other and are magnetically coupled to jointly form a circular magnetic path. Thus, the power receiving unit 52 can receive power from the power transmitting unit 45 by electromagnetic coupling type contactless power supply. The power received by the power receiving unit 52 is supplied to the driving unit 53, the working robot 55, the control device 58, etc. via the power receiving circuit.

The driving portion 53 is provided in the movable portion 51 . The drive unit 53 is driven by electric power supplied by contactless power supply from the outside or by electric power supplied from a battery to move the movable unit 51 . In the present embodiment, the drive unit 53 drives the movable unit 51 by electric power supplied by contactless power supply from the power transmission unit 45 outside the travel device 50 . More specifically, a moving coil 531 is used for the drive unit 53 .

A moving coil 531 of the drive unit 53 is arranged to face the magnet 43 of the first rail 41 . The driving unit 53 supplies power to the moving coil 531 to induce a magnetic pole in the core of the moving coil 531 . Thereby, the drive unit 53 generates a driving force in the X direction between itself and the magnet 43 . As described above, the driving portion 53 constitutes a linear motor in combination with the magnets 43 provided side by side on the first rail 41, which is the fixed portion.

The position detection unit 54 is arranged on the bracket 511 so as to face the linear scale 44 provided on the first rail 41 . The position detector 54 detects the scale of the linear scale 44 to detect the current position of the movable part 51 on the travel path. In the present embodiment, the position detection section 54 can apply an optical detection method or a detection method using electromagnetic induction to detect the position of the movable portion 51 .

The work robot 55 is provided on the movable portion 51 and performs a predetermined work. The above-mentioned "predetermined work" includes the work of exchanging a replacement element detachably mounted on a board-oriented working machine such as the component mounting machine 10 with the board-oriented working machine. In the present embodiment, the work robot 55 uses the feeder 20 for supplying components to be mounted on the substrate 90 as a replacement element, and communicates with the plurality of component mounting machines 10 that constitute the production line 1 and with the feeder storage device 5 . Exchange processing of the feeder 20 is performed between them. The replacement process described above includes at least one of collection and replenishment of the feeder 20 .

In this embodiment, the work robot 55 conveys the feeder 20 from the feeder storage device 5 to the upper slot 121 or the lower slot 122 of the component mounting machine 10 . The work robot 55 also switches the feeder 20 between the upper slot 121 and the lower slot 122 of the component mounting machine 10 . Further, the work robot 55 transports the used feeder 20 from the component mounting machine 10 to the feeder storage device 5 . As shown in FIG. 3, the working robot 55 has a holding portion 551 that holds the feeder 20 . The holding portion 551 is provided so as to be movable in the attachment/detachment direction of the feeder 20 (the Y direction in this embodiment) and the vertical direction (the Z direction).

The maintenance switch 56 receives an operator's operation and sends a signal to the control device 58 . The control device 58 switches the traveling device 50 between the normal operation mode and the maintenance mode based on the state of the maintenance switch 56 . The maintenance switch 56 is operated by the operator for the purpose of switching the mode when, for example, the traveling device 50 stops traveling for some reason or an error occurs in the work of the working robot 55 . In the maintenance mode, travel of the movable portion 51 and work of the working robot 55 are restricted.

The human sensor 57 detects the presence of workers in the vicinity and sends a signal based on the detection to the control device 58 . The human sensor 57 detects a worker using infrared rays, ultrasonic waves, or the like. The control device 58 recognizes from the signal sent from the human sensor 57 whether the worker is approaching the traveling device 50 to some extent or whether the worker is approaching as the detection result of the human sensor 57 .

The control device 58 is a controller mainly composed of a CPU, various memories, and a control circuit. The control device 58 is communicably connected to the plurality of component mounting machines 10, the feeder storage device 5, and the management device 6. FIG. The control device 58 controls the operations of the drive unit 53, the work robot 55, and the like. With the configuration as described above, the travel device 50 moves to a predetermined position along the first rail 41 and the second rail 42, and replaces the feeder 20, which is a replacement element, at the stop position.

Here, the traveling device that travels using electric power and performs predetermined work as described above may be charged by static electricity or electric leakage. If the traveling device becomes charged, there is a risk that an accidental discharge will occur in the operator performing maintenance or in the internal circuits. If the traveling device is of a type in which power is supplied from the outside using a power cable or the like, it is easy to eliminate the electrified state by grounding the traveling device with the outside via the power cable.

On the other hand, if the traveling gear is a non-contact power supply from the outside without a power cable, or a type that receives power from the battery installed in the traveling gear, for example, a spring or brush is used to provide a constant external grounding. A configuration comprising a device is employed. According to such a grounding device, even if the traveling device is electrified, the electrified state is preferably eliminated by the grounding device. However, in the grounding device as described above, when the traveling device travels while the spring or the like is in contact with the outside, sliding resistance is generated between the traveling device and the outside.

As a result, there is concern that the load during running will increase, or that the grounding function will deteriorate due to wear of the sliding portion. This necessitates periodic maintenance of the traveling device. Therefore, the traveling device 50 of the present embodiment adopts a configuration including a switching device 60 for switching between the grounded state and the non-grounded state of the traveling device 50 in order to appropriately eliminate the charged state and to improve maintainability. do.

The switching device 60 is provided on the movable portion 51 as shown in FIG. The switching device 60 has an arm 61 and an actuator 62 . Arm 61 is formed of an electrical conductor. One end of the arm 61 is provided on the bracket 511 of the movable portion 51 so as to be rotatable around the central axis Ar. The actuator 62 moves the arm 61 in a direction of contact with the first rail 41 as a fixed portion. Specifically, the actuator 62 rotates the arm 61 around the central axis Ar according to the state of power supply.

The switching device 60 grounds the movable portion 51 by bringing the arm 61 into contact with the first rail 41 . Further, the switching device 60 separates the arm 61 from the first rail 41 to bring the movable portion 51 into a non-grounded state. The “grounded state” described above refers to a state in which the movable portion 51 is electrically grounded to the first rail 41 . In addition, the “non-grounded state” switches the non-grounded state in which the movable portion 51 is not grounded.

A solenoid actuator having a spring, for example, is applied to the actuator 62 described above. The actuator 62 rotates the arm 61 away from the first rail 41 against the elastic force of the spring when power is supplied. On the other hand, the actuator 62 rotates the arm 61 so as to contact the first rail 41 by the elastic force of the spring when the power supply is stopped. According to such a configuration, even if power supply to the traveling device 50 is interrupted for some reason, the movable portion 51 can be reliably switched to the grounded state.

According to the configuration of the switching device 60 as described above, it is possible to switch between the grounded state and the non-grounded state of the movable portion 51 by contact and non-contact between the arm 61 and the first rail 41 which is the fixed portion. In addition, since the switching device 60 includes the actuator 62 , the arm 61 can be moved (rotated) by driving the actuator 62 to easily and reliably switch between contact and non-contact between the arm 61 and the first rail 41 .

In this embodiment, the switching device 60 is configured to be capable of executing switching processing for switching between the grounded state and the non-grounded state independently of the operation of the driving section 53 . The switching device 60 may employ either a configuration that performs the switching process in conjunction with the operation of the drive unit 53 or a configuration that performs the switching process by considering predetermined conditions in combination.

For example, the switching device 60 may switch between the grounded state and the non-grounded state according to the traveling state of the movable portion 51 . The “running state” may include the speed of the movable portion 51 . Specifically, the switching device 60 switches to the grounded state when the speed of the movable portion 51 indicating the running state of the movable portion 51 is equal to or less than a specified speed, and switches to the non-contact state when the speed of the movable portion 51 exceeds the specified speed. Switch to the grounded state. Note that the speed of the movable portion 51 is calculated based on the amount of change in position detected by the position detection portion 54 .

According to such a configuration, it is possible to reliably eliminate the charged state and improve safety in a running state (such as a stop) in which an operator may come into contact with the movable portion 51 . On the other hand, during normal running, the non-grounded state prevents contact with the fixed portion, thereby reliably preventing an increase in load during running. Moreover, it is assumed that maintenance by the operator is mainly performed when the movable portion 51 is stopped. Therefore, it is particularly efficient to switch between the grounded state and the non-grounded state of the movable portion 51 using the speed of the movable portion 51 as the running state.

Moreover, the switching device 60 may switch between the grounded state and the non-grounded state according to a command input from the outside. Specifically, the switching device 60 switches to the grounded state when a stop command is issued to the traveling device 50 from an external device such as the management device 6, and switches to the non-grounded state when the stop command is cancelled. A signal input from the maintenance switch 56 may be used as the command input from the outside. In other words, the switching device 60 may switch to the grounded state in the maintenance mode and may switch to the non-grounded state in the operational mode.

According to such a configuration, the movable portion 51 can be forcibly grounded or ungrounded by an external command from the management device 6 or the maintenance switch 56 . As a result, it is possible to eliminate the charged state according to the operating conditions of the traveling device 50 .

Further, switching device 60 may switch between the grounded state and the non-grounded state according to the detection result of human sensor 57 . Specifically, the switching device 60 switches to the grounded state when the worker is approaching the traveling device 50 to a certain extent by the human sensor 57, and when the worker is separated from the traveling device 50 by a certain amount or more, the switching device 60 stops. Switch to the grounded state.

One of the purposes of eliminating the electrified state of the movable portion 51 is to improve the safety when the operator touches the travel device 50 . Therefore, the safety of the operator can be reliably improved by the configuration in which the movable portion 51 is switched between the grounded state and the non-grounded state according to the approach of the worker.

The switching mode as described above can be applied in combination, and may be configured according to respective priorities. That is, the switching device 60 determines whether the speed of the movable portion 51 is equal to or less than the specified speed when, for example, a stop command is received from the management device 6 or when the worker is so close to the traveling device 50 as to come in contact with it. Forcibly switch to the grounded state regardless of whether or not According to such a configuration, sliding resistance is generated between the arm 61 and the first rail 41, increasing the load during running. It is possible to improve the safety of the operator who performs the maintenance.

5. Switching Process Between Grounded State and Non-Grounded State A switching process for switching between the grounded state and the non-grounded state of the movable portion 51 by the traveling device 50 will be described with reference to FIG. The control device 58 performs the switching process at regular intervals, for example, while the traveling device 50 is powered on. The control device 58 first acquires the running state of the movable portion 51 (S11). Here, the control device 58 acquires the current speed Vc of the movable portion 51 as the running state.

Next, when the current speed Vc of the movable portion 51 is equal to or lower than the specified speed Vp (Vc≤Vp, S12: Yes), the control device 58 causes the switching device 60 to switch the movable portion 51 to the grounded state (S21). Specifically, the switching device 60 cuts off power supply to the actuator 62 to rotate the arm 61 to one side (counterclockwise in FIG. 3) about the central axis Ar, thereby rotating the arm 61 to the first rail. 41. As a result, the movable portion 51 is electrically connected to the first rail 41 via the arm 61 and is grounded.

Further, when the current speed Vc exceeds the specified speed Vp (Vc>Vp, S12: No), the control device 58 determines whether there is an external command (S13). Specifically, when there is a stop command from the management device 6 or the like, or there is a switch to the maintenance mode by operating the maintenance switch 56 (S13: Yes), the control device 58 changes the current speed Vc of the movable portion 51 to Regardless, the switching device 60 switches the movable portion 51 to the grounded state (S21). The control device 58 maintains the grounded state of the movable portion 51 until the running is permitted by the management device 6 or the like, or the maintenance mode is released by operating the maintenance switch 56, or the like.

Subsequently, when there is no external command (S13: No), the control device 58 determines whether or not a worker or the like is approaching using the human sensor 57 (S14). Specifically, when the human sensor 57 indicates that the worker is approaching the traveling device 50 to some extent (S14: Yes), the control device 58 causes the switching device 60 to move the movable portion irrespective of the presence or absence of an external command. 51 is switched to the ground state (S21). On the other hand, when the operator is separated from the travel device 50 by a certain amount or more (S14: No), the control device 58 switches the movable portion 51 to the non-grounded state by the switching device 60 (S22).

Specifically, the switching device 60 rotates the arm 61 to the other side (clockwise in FIG. 3) around the central axis Ar by supplying power to the actuator 62 to move the arm 61 away from the first rail 41. . As a result, the arm 61 is accommodated in the movable portion 51 as indicated by the dashed line in FIG. 3, and the generation of sliding resistance due to travel of the travel device 50 is prevented. Also, at this time, the movable portion 51 is in a non-grounded state in which it is not in contact with the first rail 41 and is not grounded.

6. Effect of Configuration of the Embodiment The traveling device 50 of the present embodiment is provided in the movable portion 51, and the movable portion 51 is electrically grounded to the fixed portion on the traveling road side, and the movable portion 51 is not grounded. A switching device 60 for switching the non-grounded state is provided.

According to such a configuration, the movable portion 51 is switched to the grounded state in which the movable portion 51 is electrically grounded to the fixed portion by the switching device 60, so that the charged state of the movable portion 51 can be appropriately eliminated. Therefore, it is possible to further improve safety when an operator performs work such as maintenance on the movable portion 51 . In addition, by switching to the non-grounded state by the switching device 60, it is possible to prevent an increase in the load during running, and to improve maintainability as a structure having no sliding portion.

7. Modification of Embodiment 7-1. Switching Process In the embodiment, the switching device 60 is configured to switch between the grounded state and the non-grounded state according to the running state of the movable portion 51 . Further, the running state is the speed of the movable portion 51, and the speed is calculated based on the amount of change in the position detected by the position detection portion 54, as an example. On the other hand, the velocity of the movable part 51 may be obtained by various modes other than based on the detection result by the position detection part 54 . Also, the speed of the movable portion 51 may be estimated from the power consumption of the driving portion 53 , or the power consumption itself may be used as the running state of the movable portion 51 .

In the embodiment, the actuator 62 of the switching device 60 is illustrated as a solenoid actuator. On the other hand, the actuator 62 can adopt various aspects. Specifically, the actuator 62 may be configured to movably support the arm 61 in the Y direction, for example, as long as the arm 61 can switch between the contact state and the non-contact state of the arm 61 with the first rail 41 .

In addition, the arm 61 of the switching device 60 may be a structure having elasticity instead of being rod-shaped. Furthermore, the fixed portion with which the arm 61 contacts when the movable portion 51 is grounded may adopt various modes as long as it is an electrical conductor other than the first rail 41 whose voltage is at the ground level. Such a configuration also has the same effect as the embodiment.

7-2. Travel Device In the embodiment, the travel device 50 is configured to provide electric power by contactless power supply or an on-board battery without using a power cable, at least during travel. For example, the drive unit 53 of the travel device 50 may be configured to run the movable portion 51 using electric power supplied from a battery mounted on the movable portion 51 . If the battery is of the storage type, the power cable is temporarily connected to the movable portion 51 at a predetermined charging position on the running road, for example.

At this time, the traveling device 50 may switch the movable portion 51 to the grounded state by the switching device 60 . The traveling device 50 is detached from the power cable before shifting to the traveling state, and in the traveling state, the switching device 60 appropriately switches the grounded state and the non-grounded state of the movable portion 51 . Such a configuration also has the same effect as the embodiment. It should be noted that the travel device 50 can reduce the overall weight of the travel device 50 by running on electric power supplied by non-contact power supply as exemplified in the embodiment, compared to a configuration in which a battery is mounted. Thereby, the running performance of the running device 50 can be improved.

Further, in the embodiment, the drive unit 53 is combined with the magnets 43 arranged side by side on the first rail 41 to form a linear motor. In such a configuration, unlike a configuration in which the drive wheels and rails are in contact with each other to transmit the thrust force, it is difficult to eliminate electrification because there is no contact. Therefore, the configuration in which the switching device 60 is applied to the travel device 50 having such a drive unit 53 is particularly useful.

7-3. Others In the embodiment, the replacement element to be replaced by the replacement system 40 and the travel device 50 is the feeder 20 that is installed in the component mounting machine 10 and supplies the components to be mounted on the substrate 90 . On the other hand, the exchange system 40 and the travel device 50 may have exchange elements other than the feeder 20 . Specifically, for example, a tape reel, a nozzle station, a waste tape collection container, and the like, which are exchangeably equipped in the component mounter 10, can be replacement elements.

There is a type of feeder in which a reel holder for holding a tape reel is arranged outside. Therefore, by automatically changing the tape reel of the feeder by the traveling device 50, accurate delivery of the tape reel becomes possible. Also, the nozzle station needs to hold suction nozzles corresponding to the types of components used in the production of board products. Therefore, the production efficiency in the production line 1 can be improved by arranging a storage device for the nozzle station in the production line 1 and automatically exchanging the nozzle station between the storage device and the component mounting machine 10 .

Further, the above waste tape collection container is installed, for example, below the upper slot 121 of the component mounter 10, and is a container for collecting the waste tape generated when each feeder 20 supplies components. This disposal tape is, for example, a part of the carrier tape from which the components have been taken out and cut into an appropriate length. The capacity of the waste tape collection container is limited. Therefore, using the traveling device 50 to keep the amount of waste tape collected by the waste tape collection container below a certain level, for example, is useful from the viewpoint of maintaining a good production state.

Alternatively, when the feeder 20 is a stick feeder, the traveling device 50 may be configured to supply sticks and collect empty sticks. Further, when the feeder 20 is a bulk feeder, the traveling device 50 may be configured to supply bulk parts, or supply parts cases containing bulk parts and collect empty parts cases. Even in such a configuration, automatic replenishment and collection of replacement elements are possible, and production efficiency in the production line 1 can be improved.

Further, in the embodiment, the travel device 50 is configured to include a work robot 55 that replaces the feeder 20 . In such a configuration, the electric power used to drive the working robot 55 must also be covered by contactless power supply or an on-board battery. As a result, the travel device 50 is likely to be charged, and the need to protect the control board of the work robot 55 also increases. Therefore, the configuration in which the switching device 60 is applied to such a travel device 50 is particularly useful. On the other hand, the travel device 50 may be configured with a working robot having a function different from that for replacement, or may be configured without a working robot.

In the embodiment, the traveling device has exemplified a configuration applied to a production line that produces board products. According to such a configuration, if the production line is not completely unmanned, it is particularly useful to operate the traveling device 50 including the switching device 60 from the viewpoint of further improving the safety of the worker. be. In addition, the component mounting machine 10 is required to automate replacement work and improve maintainability, and the aspect illustrated in the embodiment is particularly useful. On the other hand, the travel device can be applied to production lines other than substrate products, or various work lines that transport objects.

1: Production Line 10: Component Mounting Machine 20: Feeder (Exchange Element) 40: Exchange System 41: First Rail (Fixed Part) 43: Magnet 44: Linear Scale 50: Travel Device 51: Movable part 52: Power receiving part 53: Drive part 54: Position detection part 55: Working robot 56: Maintenance switch 57: Human sensor 58: Control device 60: Switching device 61: Arm 62 : Actuator 90: Substrate Vc: Current speed Vp: Specified speed

Claims (11)

a movable part provided so as to be able to travel along the travel path;
a driving unit provided in the movable portion and configured to run the movable portion using electric power supplied by contactless power supply from the outside or electric power supplied from a battery mounted on the movable portion;
a human sensor provided on the movable part;
A grounded state in which the movable portion is electrically grounded by contacting the fixed portion on the running path side provided in the movable portion, and a non-grounded state in which the movable portion is not electrically grounded by not contacting the fixed portion. a switching device for switching the ground state according to the detection result of the human sensor ;
A running device. 2. The traveling device according to claim 1, wherein said switching device switches between said grounded state and said non-grounded state according to a traveling state of said movable portion. The switching device switches to the grounded state when the speed of the movable portion indicating the running state of the movable portion is equal to or lower than a specified speed, and the non-grounded state when the speed of the movable portion exceeds the specified speed. 3. The running device of claim 2, wherein the running device switches to a state. The traveling device according to any one of claims 1 to 3, wherein said switching device switches between said grounded state and said non-grounded state according to a command input from the outside. The switching device is provided on the movable part and has an arm formed of an electric conductor,
The switching device according to any one of claims 1 to 4 , wherein the grounded state is established by bringing the arm into contact with the fixed portion, and the non-grounded state is established by separating the arm from the fixed portion. Running gear as described. 6. The travel device according to claim 5 , wherein said switching device further includes an actuator for moving said arm in a contacting direction with respect to said fixed portion. The traveling device according to any one of claims 1 to 6 , wherein the driving section drives the movable section with electric power supplied by contactless power supply from the outside. The travel device according to any one of claims 1 to 7 , wherein the driving section is combined with magnets provided side by side on the fixed section to form a linear motor. The movable part is formed of an electric conductor and is provided so as to be able to travel along a rail that constitutes the travel path,
The traveling device according to any one of claims 1 to 8 , wherein the switching device switches between the grounded state and the non-grounded state using the rail as the fixed portion. The traveling device according to any one of claims 1 to 9 , further comprising a working robot provided in said movable portion and performing a predetermined work. The traveling device is applied to a production line in which a plurality of board-to-board working machines are installed side by side,
11. The travel apparatus according to claim 10 , wherein said working robot performs a task of exchanging a predetermined replacement element with said board-oriented working machine with a replacement element detachably mounted on said board-oriented working machine.

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