JP7403047B2 - Automatic exchange system, management device, and automatic exchange method - Google Patents

Description

The present disclosure relates to an automatic exchange system, a management device, and an automatic exchange method for exchanging a component container and a component supply device of a component supply unit.

A component mounting device is a component supply unit such as a cart that holds in parallel a component container such as a reel that accommodates multiple components and a component supply device such as a feeder that moves the components stored in the component container to a component supply position. , and mounts the components supplied to the component supply position on the board. An automatic replacement device that automatically replaces a component supply device mounted on such a component mounting device is known (see, for example, Patent Document 1). Patent Document 1 discloses that a parts cassette in which a parts container and a parts supply device are integrated is placed on standby on a standby stand provided in a component mounting device, is gripped by a robot provided in the component mounting device, and is transferred to a component supply section. It is disclosed that it can be replaced by

Japanese Unexamined Patent Publication No. 4-283035

However, when replacing separately installed component supply devices and component containers, or when replacing component supply devices and component containers using a robot that is independent of the component mounting device, the robot and the replacement target are It may shift from the predetermined position, and even in such a case, there is still room for improvement in order to replace the component supply device or the component container without making a mistake.

The present disclosure provides an automatic exchange system, a management device, and an automatic exchange method that can accurately exchange component containers.

The automatic exchange system of the present disclosure exchanges a component container . A component supply device that moves components stored in a component storage container to a component supply position and a component storage device include a lower part where the component storage container is held, and a feeder mounting section to which the component supply device is installed. included in the unit. This automatic exchange system includes a transfer device having an end effector, a movement mechanism, a recognition section, a route setting section, and a control section. The end effector holds the component container. The movement mechanism is configured to move the end effector. The recognition section is provided at the lower part of the component supply unit and the feeder mounting section, and recognizes a plurality of unit recognition bodies for identifying the component supply unit. The route setting unit sets a movement route for moving the end effector. The control unit controls the moving mechanism. The control section moves the end effector to the component supply device based on the set moving route and the recognition result by the recognition section.

In the automatic exchange method of the present disclosure, a component container is exchanged using a transfer device having a movable end effector. The component supply device and the component container are included in a component supply unit that includes a lower portion in which the component container is held, and a feeder mounting section to which the component supply device is mounted. The component supply device moves the components accommodated in the component container to a component supply position. This automatic replacement method recognizes a plurality of unit recognition bodies that are provided at the lower part of the component supply unit and the feeder mounting section and are used to identify the component supply unit. On the other hand, a moving route for moving the end effector is set. The end effector is then moved to the component supply device based on the set movement route and the recognition result of the unit recognition body.

According to the present disclosure, the component container can be replaced accurately.

Configuration explanatory diagram of a component mounting system according to an embodiment of the present disclosure Configuration explanatory diagram of a component mounting line included in a component mounting system according to an embodiment of the present disclosure A configuration explanatory diagram of a component mounting device equipped with a component supply cart included in a component mounting system according to an embodiment of the present disclosure A front view of a component supply cart included in a component mounting system according to an embodiment of the present disclosure A configuration explanatory diagram of a component mounting device equipped with a tray feeder included in a component mounting system according to an embodiment of the present disclosure A perspective view of a tray feeder included in a component mounting system according to an embodiment of the present disclosure Configuration explanatory diagram of a transfer device included in a component mounting system according to an embodiment of the present disclosure A block diagram showing the configuration of a control system of a component mounting system (automatic replacement system) according to an embodiment of the present disclosure An explanatory diagram of an example of unit information used in a component mounting system (automatic replacement system) according to an embodiment of the present disclosure An explanatory diagram of external dimensions of a component supply cart included in a component mounting system according to an embodiment of the present disclosure An explanatory diagram of an example of external dimension information used in a component mounting system (automatic replacement system) according to an embodiment of the present disclosure An explanatory diagram of an example of supply device information used in a component mounting system (automatic replacement system) according to an embodiment of the present disclosure A diagram showing a flow of an automatic exchange method according to an embodiment of the present disclosure A process explanatory diagram of automatic replacement of a component reel in a component mounting system (automatic replacement system) according to an embodiment of the present disclosure Explanatory diagram of the process of automatic parts reel replacement following FIG. 14A Explanatory diagram of the process of automatic replacement of parts reels following FIG. 14B Explanatory diagram of the process of automatic parts reel replacement following FIG. 14C Explanatory diagram of the process of automatic replacement of parts reels following FIG. 15A Explanatory diagram of the process of automatic replacement of parts reels following FIG. 15B A front view of the second component supply cart included in the component mounting system according to an embodiment of the present disclosure A partially enlarged view of an example of a trolley recognition target formed on the second parts supply trolley according to an embodiment of the present disclosure A partially enlarged view of an example of a mounting part recognition target formed on a second component supply cart according to an embodiment of the present disclosure Configuration explanatory diagram of a second transfer device included in a component mounting system according to an embodiment of the present disclosure A process explanatory diagram of a contact detection operation for recognizing the position of a trolley recognition target by the second transfer device according to an embodiment of the present disclosure Process explanatory diagram of contact detection operation following FIG. 19A Process explanatory diagram of contact detection operation following FIG. 19B An explanatory diagram for recognizing the position of the second parts supply cart by the second transfer device according to an embodiment of the present disclosure

An embodiment of the present disclosure will be described in detail below using the drawings. The configuration, shape, etc. described below are examples for explanation, and can be changed as appropriate depending on the specifications of the component mounting system, component mounting line, component mounting device, component supply cart, and tray feeder. Hereinafter, corresponding elements in all drawings will be denoted by the same reference numerals, and redundant explanation will be omitted. In FIG. 1 and some parts to be described later, the two axes that are orthogonal to each other in the horizontal plane are the X direction of the substrate transport direction (the left-right direction in FIG. 4), and the Y direction orthogonal to the substrate transport direction (the left-right direction in FIG. 3). is shown. Further, in FIG. 2, the Z direction (vertical direction in FIG. 3) is shown as a height direction perpendicular to the horizontal plane.

First, the configuration of the component mounting system 1 will be explained with reference to FIG. The component mounting system 1 has a configuration in which three component mounting lines L1 to L3 arranged on a floor F are connected by a wired or wireless communication network 2 and are managed by a management computer 3. Each of the component mounting lines L1 to L3 is configured by connecting a plurality of devices including a component mounting device, as will be described later, and has a function of manufacturing a mounting board in which components are mounted on a board. Note that the number of component mounting lines L1 included in the component mounting system 1 does not need to be three, and may be one, two, or four or more.

A material storage W is installed on the floor F. It is assumed that the material storage W stores components to be supplied to the component mounting apparatuses forming the component mounting lines L1 to L3 in the form of component reels, trays, stick cases, and the like. The component reel, tray, and stick case are component containers that accommodate multiple components.

A plurality of transfer devices V, which are automatic guided vehicles, are installed on the floor F. The transfer device V has a built-in wireless communication section T, and transmits and receives signals and information to and from the management computer 3 via a wireless management communication section 3a included in the management computer 3. The transfer device V receives work instructions sent from the management computer 3, a travel path tape and beacon installed on the floor F (not shown), various sensors (GPS, obstacle sensor, etc.) built into the transfer device V, cameras, etc. The vehicle autonomously moves along the travel path set on floor F based on the information it collects using the vehicle.

Next, the detailed configuration of the component mounting lines L1 to L3 will be described with reference to FIG. The component mounting lines L1 to L3 have similar configurations, and the component mounting line L1 will be described below. The component mounting line L1 includes a printing machine M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5 in order from the upstream side in the board transport direction (left side in FIG. 2). Each device has a substrate transport mechanism such as a belt conveyor, and the board transport mechanism of each device transports the substrate from upstream to downstream to manufacture mounted boards. Each device is connected to a management computer 3 via a wired or wireless communication network 2, and can send and receive data to and from the management computer 3.

In FIG. 2, a printing machine M1 has a function of printing paste-like cream solder onto a board through a screen mask. The three component mounting devices M2 to M4 have a function of picking up components supplied to the component supply section 4 by component suction nozzles attached to the mounting heads, and transferring and mounting them on the mounting points of the board printed with cream solder. have A component supply cart 5, which will be described later, is attached to the component supply section 4 of the component mounting apparatuses M2 and M3. A tray feeder 6, which will be described later, is attached to the component supply section 4 of the component mounting apparatus M4.

The reflow apparatus M5 has a function of heating a board on which components are mounted to melt cream solder and then solidifying it to solder the components to the board. The management computer 3 manages the production of the mounted boards manufactured on the component mounting lines L1 to L3, downloads programs and data necessary for manufacturing the mounted boards to each device for component mounting, etc. Executes processing to support replenishment work for replenishing M2 to M4.

Next, the configurations of the component mounting apparatuses M2 and M3 will be described with reference to FIGS. 3 and 4. In FIG. 3, a substrate transport mechanism 8 provided on the upper surface of a base 7 transports a substrate 9 in the X direction, positions it, and holds it. A mounting head 10 is installed above the substrate transport mechanism 8 and is moved in the horizontal direction (X direction, Y direction) by a head moving mechanism (not shown). A suction nozzle 10a is provided at the lower end of the mounting head 10. The suction nozzle 10a holds the component D by vacuum suction. A component supply cart 5 is attached to the component supply unit 4 provided on the side of the board transport mechanism 8 .

In FIG. 4, a feeder mounting section 12 is installed on the upper part of the parts supply cart 5. As shown in FIG. A plurality of slots S for mounting tape feeders 13 or stick feeders 14 are formed in the upper surface of the feeder mounting section 12 in the substrate transport direction (X direction). When the component supply truck 5 is mounted on the component supply section 4, the feeder mounting section 12 is separated from the lower part 5a of the component supply truck 5 and coupled to the base 7. In the lower part 5a of the parts supply truck 5, a plurality of upper reel holding parts 5U lined up in the X direction and a plurality of lower reel holding parts 5B lined up in the X direction are vertically installed. The upper reel holding section 5U and the lower reel holding section 5B each rotatably hold a component reel 16 around which a component storage tape 15 containing a component D is wound.

In FIG. 3, a reel mark Mb is attached to the side surface of the component reel 16. The reel mark Mb includes a bar code or a two-dimensional code in which information identifying the component reel 16 is recorded. The component storage tape 15 pulled out from the component reel 16 held by the upper reel holding part 5U or the lower reel holding part 5B is inserted into the tape insertion opening 13a of the tape feeder 13. The tape feeder 13 transports the component storage tape 15 inserted from the tape insertion opening 13a in the tape feeding direction, and supplies the component D to the component supply position E. That is, the tape feeder 13 is a component supply device that moves the component D contained in the component reel 16 (component container) to the component supply position E.

In FIG. 4, the stick feeder 14 supplies a plurality of parts D stored in series inside a long and hollow stick case 17 to a parts supply position E. As a method for moving the component D in the stick feeder 14 to the component supply position E, vibration, extrusion using a wire, etc. are used. The stick cases 17 are stored in a stacked state in a stacking section 14a provided at the top of the stick feeder 14. That is, the stick feeder 14 is a component supply device that moves the components D contained in the stick case 17 (component container) to the component supply position E. In this way, the component supply cart 5 has a component container (component reel 16, stick case 17) and a component supply device (tape feeder 13, stick feeder 14), and supplies components D to component mounting devices M2 and M3. Configure a parts supply unit to supply the parts.

In FIG. 3, component mounting apparatuses M2 and M3 have a substrate transport mechanism 8, a mounting head 10, and a mounting control section 18 that controls a head moving mechanism. The mounting control unit 18 sends a component D supply command to the tape feeder 13 or stick feeder 14 to supply the component D to the component supply position E. Furthermore, the mounting control unit 18 controls the mounting head 10 and the head moving mechanism, causes the mounting head 10 to take out the component D supplied by the component supply device to the component supply position E, and transfers the component D, which is held by the substrate transport mechanism 8, to the board 9. Perform component mounting work to transport and mount the parts to the mounting position.

In FIG. 4, the lower part 5a of the parts supply trolley 5 has a trolley mark Mc attached to its exterior. A mounting part mark Ma is attached to the external appearance of the feeder mounting part 12. The cart mark Mc and the mounting part mark Ma include a bar code, a two-dimensional code, a unique mark, etc. in which information for specifying the component supply cart 5 is recorded. When a plurality of marks are attached to the parts supply cart 5 (here, two cart marks Mc and two mounting part marks Ma), each mark also records information specifying the attached position. .

In this way, the cart mark Mc and the mounting part mark Ma are unit recognition bodies attached (formed) to the external appearance of the component supply unit (component supply cart 5). Note that the trolley mark Mc and the attachment part mark Ma may be attached to any of the front, side, top, rear, and bottom surfaces as long as they can be visually recognized from the outside when viewed from the side where each mark is recognized.

A tape feeder mark Mt is attached to the side of the tape feeder 13 where the tape insertion opening 13a is formed. The tape feeder mark Mt includes a barcode in which information identifying the tape feeder 13 is recorded, a two-dimensional code, a unique mark, and the like. A stick feeder mark Ms is attached to the side of the stick feeder 14 to which the stick case 17 is fed. The stick feeder mark Ms includes a barcode in which information identifying the stick feeder 14 is recorded, a two-dimensional code, a unique mark, and the like.

In this way, the tape feeder mark Mt and the stick feeder mark Ms are supply device recognition bodies attached (formed) to the external appearance of the component supply device (tape feeder 13, stick feeder 14). The supply device recognition body is provided to identify the component supply device.

Note that the tape feeder mark Mt and the stick feeder mark Ms may be placed on any of the front, side, top, rear, and bottom surfaces as long as they are visible from the outside when viewed from the side that recognizes each mark. .

Next, the configuration of the component mounting apparatus M4 will be described with reference to FIGS. 5 and 6. The component mounting apparatus M4 is similar to the component mounting apparatuses M2 and M3, except that a tray feeder 6 is attached to the component supply section 4 instead of the component supply cart 5, and the configuration of the tray feeder 6 will be described below. In FIG. 5, a rack section 21 is installed on the front side of the tray feeder 6 attached to the component supply section 4, and a pallet moving section 22 is installed on the rear side of the upper surface of the feeder placement section 20 of the tray feeder 6.

In the rack section 21, a plurality of (in this case, two) magazine holding sections 26 are arranged in the vertical direction for storing magazines 25 that store stacked pallets 24 on which trays 23 for storing parts D are mounted. . The operating surface of the rack section 21 is provided with a rack door 26a that can be opened at the front. The magazine 25 is inserted into and removed from the magazine holding portion 26 with the rack door 26a open (lower side in FIG. 6). A pallet mounting section 27 is provided above the magazine holding section 26 at the top. The operating surface of the rack section 21 is provided with an opening/closing cover 27a that can be opened upward (arrow a). When the opening/closing cover 27a is opened, one pallet 24 with a tray 23 attached to the pallet mounting portion 27 can be taken in and out of the tray feeder 6.

In FIG. 5, the pallet moving unit 22 includes a pallet mounting table 28, a lifting mechanism 29, and a take-out mechanism 28a. The elevating mechanism 29 raises and lowers the pallet mounting table 28 (arrow b) to a height position at which the pallet 24 stored in the magazine 25 or the pallet 24 mounted on the pallet mounting section 27 is placed in and taken out, or the mounting head 10 The pallet mounting table 28 is moved to the component supply position E where the component D is taken out. The take-out mechanism 28a pulls out and holds the pallet 24 from the magazine 25 or the pallet mounting section 27, and stores the held pallet 24 in the magazine 25 or the pallet mounting section 27.

In this way, the tray 23 and the magazine 25 that accommodates the plurality of trays 23 are component containers that accommodate the plurality of components D. Further, the pallet moving section 22, which includes a pallet mounting table 28, a lifting mechanism 29, and a take-out mechanism 28a, is a component supply device that moves the components D accommodated in the tray 23 (component container) to the component supply position E. The tray feeder 6 is a component supply unit that includes a component container (tray 23) and a component supply device, and supplies the component D to the component mounting device M4.

In FIG. 6, a rack mark Ml is attached to the external appearance of each rack door 26a. The rack mark Ml includes a bar code, a two-dimensional code, a unique mark, etc. in which information for identifying the tray feeder 6 and information on the position (upper stage, lower stage) of the rack door 26a (magazine holding section 26) are recorded. ing. An opening/closing mark Mo is attached to the front surface of the opening/closing cover 27a. The opening/closing mark Mo includes a bar code or a two-dimensional code in which information identifying the tray feeder 6 is recorded. In this way, the rack mark Ml and the opening/closing mark Mo are unit recognition bodies attached (formed) to the external appearance of the component supply unit (tray feeder 6). The unit recognition body is provided to identify the component supply unit. The rack mark Ml and the opening/closing mark Mo may be placed on any of the front, side, top, rear, and bottom surfaces as long as they can be visually recognized from the outside as viewed from the side where each mark is recognized.

A magazine mark Mm is attached to the front surface of the magazine 25 when it is inserted into the magazine holding part 26. The magazine mark Mm includes a barcode in which information identifying the magazine 25 is recorded, a two-dimensional code, a unique mark, and the like. A tray mark Mp (not shown) is attached to the front surface of the tray 23 when it is housed in the tray feeder 6. The tray mark Mp includes a bar code in which information identifying the tray 23 is recorded, a two-dimensional code, a unique mark, and the like. In addition, the magazine mark Mm and tray mark Mp can be placed on the front, side, top, rear, and bottom surfaces, as long as they are visible from the side where each mark is recognized, in addition to the front. It may be attached to either.

Next, the configuration of the transfer device V will be explained with reference to FIG. The transfer device V has a robot mechanism 31 and a storage section 32 above a cart section 30. The trolley unit 30 has a traveling mechanism 33 (see FIG. 8) that includes wheels 30a, a motor that drives the wheels 30a, a direction change mechanism that changes the direction of the wheels 30a, and a sensor that detects the position and orientation of the transfer device V. ing.

The robot mechanism 31 is an articulated robot with an end effector 34 disposed at its tip, and uses a plurality of servo motors to move the end effector 34 in the X direction, Y direction, and Z direction, change the direction, and perform θ rotation. let The control method for the robot mechanism 31 is not particularly limited, and examples thereof include an impedance control method, a compliance control method, etc., but other control methods, a control method that combines multiple control methods, control using AI, etc. May be used.

The end effector 34 has a function of gripping (holding) a component supply device (tape feeder 13, stick feeder 14) or a component container (component reel 16, stick case 17, tray 23, magazine 25). Note that the end effector 34 may have functions such as holding, suction, etc. in addition to gripping, as long as it can hold the component supply device or the component container. The end effector 34 also includes a unit recognition body (cart mark Mc, mounting part mark Ma, rack mark Ml, opening/closing mark Mo), a supply device recognition body (tape feeder mark Mt, stick feeder mark Ms), magazine mark Mm, A moving camera 35 (imaging unit) is arranged to take an image of the tray mark Mp and the like.

The recognition processing section 36 (see FIG. 8) included in the transport device V performs recognition processing on the various marks imaged by the moving camera 35, thereby recognizing the information and position recorded on each mark. In this way, the mobile camera 35 (imaging section) is a recognition section that recognizes (images) the unit recognition object (mark formed on the component supply unit) and the supply device recognition object (mark formed on the component supply device). be. Further, the robot mechanism 31 is a moving mechanism that moves the end effector 34 and the moving camera 35 to align the imaging axis of the moving camera 35 with various marks.

In FIG. 7, in the storage section 32, a plurality of storage shelves 32a (four in this case) are arranged, each of which has an open side facing the robot mechanism 31. On the storage shelf 32a, a replacement component supply device (tape feeder 13, stick feeder 14), component containers (component reel 16, stick case 17, tray 23, magazine 25), etc. can be placed. The transfer device V places the replenishment component supply device and component container taken out from the material storage warehouse W on the storage shelf 32a, and transports them to the component mounting devices M2 to M4 to be supplied.

In the storage section 32, a head camera 37 with an imaging axis facing downward is installed between it and the robot mechanism 31. The head camera 37 images the reel mark Mb attached to the side surface of the component reel 16 gripped by the end effector 34 from above. The information recorded on the reel mark Mb is recognized by performing recognition processing on the reel mark Mb imaged by the head camera 37 by the recognition processing unit 36.

Note that the mobile camera 35 may have the function of the head camera 37. In that case, the moving camera 35 is attached at a position where it can image the reel mark Mb attached to the side surface of the component reel 16 with the end effector 34 gripping the component reel 16. Alternatively, with the end effector 34 pulling out the component reel 16 from the storage section 32, the moving camera 35 may image the reel mark Mb attached to the top surface of the component reel 16.

Next, with reference to FIG. 8, the configuration of the control system of the component mounting system 1 will be described. Here, in the component mounting system 1, a configuration related to the function of exchanging component supply devices and component containers of the component mounting apparatuses M2 to M4 using the transfer device V will be described. The management computer 3 includes a wireless management communication section 3a, a management storage section 40, a work instruction generation section 41, a management input section 42, and a management display section 43. The management input unit 42 is an input device such as a keyboard, touch panel, or mouse, and is used for inputting operation commands and data. The management display unit 43 is a display device such as a liquid crystal panel, and displays various information such as an operation screen for operation by the management input unit 42.

The management storage unit 40 is a storage device, and stores component information 40a, unit information 40b, external dimension information 40c, supply device information 40d, replacement work information 40e, and the like. The parts information 40a includes, for each part number that specifies the part D, the part name (type), information on the parts container in which the part D is stored (size, etc.), and information on the parts container such as the reel mark Mb and tray mark Mp. This includes information regarding the mark attached. That is, the parts information 40a includes the diameter and thickness of the parts reel 16, which is a parts container, and the external dimensions (length, width, and depth) of the stick case 17, the tray 23, and the magazine 25. The unit information 40b includes, for each component supply unit (component supply cart 5, tray feeder 6), unit-specific information that is information unique to that component supply unit.

Here, details of the unit information 40b will be explained with reference to FIG. 9. The unit information 40b includes a unit number 50, a unit type 51, a recognition method 52, a reel correction value 53, and a slot correction value 54. The unit number 50 is information that identifies the component supply unit. The unit type 51 is information that specifies the type of component supply unit. In the unit type 51, "cart (17)" and "cart (30)" are component supply carts 5 having 17 and 30 rows of slots S, an upper reel holding part 5U, and a lower reel holding part 5B, respectively, "Tray (20)" is a tray feeder 6 that can accommodate 20 pallets 24.

The recognition method 52 uses a moving camera 35 (imaging section, recognition section) of the transfer device V to identify the unit recognition body (cart mark Mc, mounting part mark Ma, rack mark Ml, open/close mark Ml, opening/closing part mark Ml, opening/closing part mark Ml, This is information (unit recognition information) specifying whether to image the mark Mo) or to recognize the external shape of the component supply unit. In the recognition method 52, the "mark" indicates that the object to be imaged is the unit recognition object, and the "outer shape" indicates that the object to be imaged is the outer shape of the entire or part of the component supply unit. By specifying the recognition method using the recognition method 52 in this manner, the same automatic replacement method described later can be applied even to component supply units having different configurations such as the presence or absence of a unit recognition body.

In FIG. 9, the reel correction value 53 is the amount of deviation from the ideal position P0 where the trolley mark Mc is attached to the actual position P1, and is the amount of deviation 53x (ΔX) in the X direction and the deviation in the Z direction. 53z (ΔZ) (see FIG. 10). The slot correction value 54 is the amount of deviation from the ideal position where the mounting part mark Ma is attached to the actual position, and is the amount of deviation in the X direction 54x (ΔX) and the amount of deviation in the Z direction 54z (ΔZ). It is indicated by. In this way, the unit type 51, recognition method 52, reel correction value 53, and slot correction value 54 for each component supply unit, including the unit number 50, constitute unit-specific information 55 that specifies the component supply unit. That is, the unit specific information 55 includes unit recognition information (recognition method 52).

Note that the reel correction value 53 may include the amount of deviation in the Y direction between the transfer device V and the component supply unit. The amount of deviation in the Y direction is the difference between the ideal distance between the transfer device V and the component supply unit and the distance between the actually stopped transfer device V and the component supply unit, and is the difference between the entire cart mark Mc imaged by the moving camera 35 or the distance between the ideal transfer device V and the component supply unit. It can be calculated based on the size of the part. Further, by capturing images of a plurality of cart marks Mc, it is also possible to approximately grasp the amount of deviation in the Y direction between the transfer device V and the component supply unit. By considering the amount of deviation in the Y direction, it is possible to calculate the amount of deviation in the X direction 53x (ΔX) and the amount of deviation in the Z direction 53z (ΔZ) with higher accuracy. Similarly, the slot correction value 54 may include the amount of deviation in the Y direction.

In FIG. 8, the external dimension information 40c includes component supply devices, Contains information regarding the external shape used in automatic parts container replacement work.

The details of the external dimension information 40c will now be described with reference to FIG. 11. FIG. 11 shows information regarding the positions of the lower reel holding part 5B and the upper reel holding part 5U among the external dimension information 40c of the component supply cart 5 whose unit type 51 is "cart (17)". The external dimension information 40c includes a holding part number 56 and a holding part position 57. The holding part number 56 is information that specifies the lower reel holding part 5B and the upper reel holding part 5U, "B01" to "B17" are for the lower reel holding part 5B, and "U01" to "U17" are for the upper reel holding part. Section 5U is shown. The holding portion position 57 is indicated by an X position 57x and a Z position 57z based on the ideal position P0 of the cart mark Mc attached to the parts supply cart 5 (see FIG. 10).

The external dimension information 40c of the unit type 51 of "Dolly (17)" includes information regarding the position of the slot S, the external size (length, width, depth) of the parts supply cart 5, in addition to the holding part position 57 shown in FIG. It also includes information such as. The external dimension information 40c for the unit type 51 of "Dolly (30)" includes the same information as the external dimension information 40c for the unit type 51 of "Dolly (17)." The external dimension information 40c for the unit type 51 of "tray (20)" includes information regarding the position of the rack door 26a, information regarding the position of the opening/closing cover 27a, information regarding the external diameter size of the tray feeder 6, and the like.

Further, the external size information 40c of the tape feeder 13 includes information regarding the position of the tape insertion port 13a, information on the external size of the tape feeder 13, and the like. The external dimension information 40c of the stick feeder 14 includes information regarding the position of the loading section 14a, information on the external size of the stick feeder 14, and the like.

In FIG. 8, the supply device information 40d includes supply device specific information that is information unique to each component supply device (tape feeder 13, stick feeder 14).

The details of the supply device information 40d will now be described with reference to FIG. 12. The feeding device information 40d includes a feeder number 60, a feeder type 61, a recognition method 62, and a feeder correction value 63. The feeder number 60 is information that identifies the component supply device. The feeder type 61 is information that specifies the type of component feeding device. In the feeder type 61, "tape (8 mm)" and "tape (16 mm)" are tape feeders 13 that transport component storage tapes 15 with widths of 8 mm and 16 mm, respectively, and "stick (10)" is a tape feeder 13 that transports 10 tapes. This is a stick feeder 14 that can accommodate a stick case 17.

In the recognition method 62, when determining the work position in the component supply device, a moving camera 35 (imaging unit, recognition unit) included in the transfer device V images the supply device recognition body (tape feeder mark Mt, stick feeder mark Ms). This is information (supplying device recognition information) that specifies whether to recognize the external shape of the component supplying device or the external shape of the component supplying device. In the recognition method 62, the "mark" indicates that the object to be imaged is the supply device recognition object, and the "outline" indicates that the object to be imaged is the outer shape of the component supply device. By specifying the recognition method using the recognition method 62 in this way, the same automatic replacement method can be applied to component supply apparatuses having different configurations such as the presence or absence of a supply apparatus recognition body.

In FIG. 12, the feeder correction value 63 is the amount of deviation from the ideal position where the tape feeder mark Mt or stick feeder mark Ms is placed to the position where it is actually placed, and is the amount of deviation 63x (ΔX) in the X direction. It is indicated by the amount of deviation 63z (ΔZ) in the Z direction. In this way, the feeder type 61, recognition method 62, and feeder correction value 63 for each component supply device, including the feeder number 60, constitute supply device specific information 64 that specifies the component supply device. That is, the supply device specific information 64 includes supply device recognition information (recognition method 62).

In FIG. 8, the replacement work information 40e includes information (part number, etc.) that identifies the parts container to be supplied or replaced, the feeder number 60 of the parts supply device to be supplied or replaced, the location, the replacement order, etc. Contains information. The locations of the objects to be supplied or replaced include the corresponding component mounting lines L1 to L3, component mounting devices M2 to M4, the unit number 50 and holding part number 56 of the component supply cart 5, or the unit number 50 of the tray feeder 6, etc. This is information that specifies the location of the target component container or component supply device. Note that the replacement work information 40e is created in advance based on production plans, production data, material/equipment information, and the like.

In FIG. 8, the work instruction generation unit 41 generates a work instruction including the destination of the transfer device V based on the replacement work information 40e. Further, the work instruction generation unit 41 determines which unit recognition body attached (formed) to the component supply unit is a work instruction to recognize based on the replacement work information 40e and the unit recognition information (recognition method 52). Or generate a work instruction that recognizes the external shape of the parts supply unit. Further, the work instruction generation unit 41 generates a work instruction for recognizing which supply device recognition body attached (formed) to the component supply device based on the replacement work information 40e and the supply device recognition information (recognition method 62). or a work instruction that recognizes the external shape of the parts supply device. Note that the work instructions are generated for each work process, and the movement coordinates of the end effector 34 are calculated for each generated process.

Further, the work instruction generation unit 41 determines the size of the end effector 34 of the transfer device V based on the replacement work information 40e, the unit-specific information 55, the supply device-specific information 64, and the external dimension information 40c of the component supply unit and the component supply device. Generate work orders that include moving targets. For example, if the cart mark Mc is recognized when exchanging the component reel 16, the movement target of the end effector 34 is designated by XZ coordinates with the recognized cart mark Mc as the base point. At this time, based on the reel correction value 53, the positional deviation of the cart mark Mc is corrected. For example, when the lower reel holding part 5B with the holding part number 56 "B01" at the lower left end of the parts supply trolley 5 in FIG. 10 is at the working position, the movement target is corrected and instructed as (X1+ΔX, Z1+ΔZ).

Similarly, when the slot S of the parts supply cart 5 is at the work position, the moving target is corrected based on the slot correction value 54. Further, when the tape insertion slot 13a of the tape feeder 13 or the loading section 14a of the stick feeder 14 is at the working position, the moving target is corrected based on the feeder correction value 63. That is, the work instruction generation unit 41 adjusts the position of the end effector 34 based on at least one of the unit position correction value (reel correction value 53, slot correction value 54) and the supply device position correction value (feeder correction value 63). Generate work instructions with corrected moving targets. The unit position correction value (reel correction value 53, slot correction value 54) is a value for correcting the movement target of the end effector 34 based on the positional deviation of the unit recognition body, and the feeding device position correction value (feeder correction value 63) ) is a value for correcting the moving target of the end effector 34 based on the positional deviation of the supply device recognition body.

In this way, by correcting the movement target with the correction value stored in advance, it is possible to accurately move the end effector 34 even if the positions of various marks are shifted for each component supply unit or for each component supply device. Can be done. The work instruction generated by the work instruction generation unit 41 is transmitted to the transfer device V that executes the exchange work via the wireless management communication unit 3a. Note that the work instruction generation unit 41 generates a work instruction with a moving target that is not corrected with the correction value, transmits the unit position correction value and the supply device position correction value together with the work instruction, and sends the unit position correction value and the supply device position correction value together with the work instruction to the path setting unit (described later) in the transfer device V. 47 may correct the moving target when setting the moving route.

As described above, the management computer 3 includes a storage section (management storage section 40), unit specific information 55, and a work instruction generation section 41. The management storage unit 40 stores external dimension information 40c of the component supply unit in association with unit specific information 55 that specifies the component supply unit. The work instruction generation unit 41 generates a work instruction including a movement target of the end effector 34 based on the external dimension information 40c of the component supply unit. The management computer 3 is a management device that generates work instructions for the transfer device V having a movable end effector 34. Note that the management computer 3 does not need to be composed of one computer, and may be composed of a plurality of devices. For example, part or all of the management storage unit 40 may be provided in the cloud via a server.

In FIG. 8, the transfer device V includes a travel mechanism 33, a robot mechanism 31, an end effector 34, a moving camera 35, a recognition processing unit 36, a head camera 37, a transfer storage unit 44, a travel control unit 45, an exchange control unit 46, a route It has a setting section 47 and a wireless communication section T. The transfer storage unit 44 is a storage device, and stores work instruction information 44a, recognition result information 44b, and the like. The work instruction information 44a stores a work instruction transmitted from the management computer 3 (management device) and received by the wireless communication unit T.

The recognition result information 44b includes information recorded on each mark obtained by the recognition processing unit 36 processing the imaging result of the moving camera 35 (imaging unit, recognition unit), information regarding the position of each mark, and information about the position of the head camera. Parts information recorded on the reel mark Mb obtained by the recognition processing unit 36 processing the imaging results of No. 37 is stored. In addition, the recognition result information 44b includes the slot S of the component supply cart 5 and the upper reel holding portion obtained by the recognition processing unit 36 recognizing the external shape of the component supply unit and the component supply device imaged by the moving camera 35. 5U, the position of the lower reel holding part 5B, the position of the rack door 26a of the tray feeder 6, the position of the opening/closing cover 27a, the position of the tape insertion opening 13a of the tape feeder 13, and the position of the loading part 14a of the stick feeder 14. Ru.

The traveling control unit 45 controls the traveling mechanism 33 based on the destination of the transfer device V included in the work instruction, and moves the transfer device V to the designated destination. The exchange control unit 46 controls the robot mechanism 31 based on the recognition destination included in the work instruction, and causes the moving camera 35 to image the designated recognition destination. The route setting unit 47 sets a moving route for moving the end effector 34 (for example, arrows c2 to c6 in FIGS. 14B to 15C) based on the movement target of the end effector 34 included in the work instruction.

At this time, the route setting unit 47 prevents the end effector 34 from interfering with the main body of the component supply unit based on the external size (length, width, depth) of the component supply unit included in the external size information 40c of the component supply unit. Set the travel route. That is, the movement path is set so that the end effector 34 moves along different trajectories depending on the object that the end effector 34 is not gripping or gripping.

The exchange control unit 46 (control unit) replaces the robot mechanism 31 (moving mechanism) based on the movement route set by the route setting unit 47 and the recognition result (recognition result information 44b) by the moving camera 35 (imaging unit, recognition unit). is controlled to move the end effector 34 to at least one of the component supply device and the component container. As a result, even if the stop position of the transfer device V deviates from the designated transfer destination, or the positions of the component supply device or component container in the component supply unit deviate from predetermined positions, the end effector 34 It is possible to accurately grip the supply device and the parts container.

In this way, the transfer device V includes the end effector 34, a movement mechanism (robot mechanism 31) that moves the end effector 34, a recognition unit (mobile camera 35), a path setting unit 47, and a control unit that controls the movement mechanism. (exchange control section 46). A management device (management computer 3) having a transfer device V and a work instruction generation unit 41 that generates a work instruction constitutes an automatic exchange system for exchanging at least one of the component supply device and the component container of the component supply unit. do.

Next, in accordance with the flow of FIG. 13 and with reference to FIGS. 14A to 15C, at least one of the component supply device and the component container of the component supply unit is replaced by a transfer device V having a movable end effector 34. This section explains the automatic replacement method. Hereinafter, an example will be described in which the component reel 16, which is a component container, is taken out from the component supply cart 5 (component supply unit) mounted on the component mounting apparatus M2 and replaced. Note that in FIGS. 14A to 15C, for convenience, the robot mechanism 31 of the transfer device V is not depicted.

In FIG. 13, first, the management computer 3 (management device) generates a work instruction specifying the front of the parts supply cart 5 to which the parts reel 16 to be replaced is attached as the transfer destination, and transfers the parts reel 16 to be supplied. The information is sent to the on-board transport device V. In the transfer device V that has received the work instruction, the travel control unit 45 moves the transfer device V to the designated transfer destination according to the work instruction (ST1: transfer device moving step). When the movement is completed, the transfer device V sends a notification to that effect to the management computer 3. Note that even when the transfer device V is moving to a designated transfer destination, a stopping error of several centimeters or several millimeters may occur.

Next, in the management computer 3, the work instruction generation unit 41 generates a work instruction for removing the parts reel 16 to be replaced from the parts supply cart 5 and attaching the parts reel 16 to be supplied (ST2: work instruction generation step). Here, it is assumed that in the work instruction generation step (ST2), a cart mark Mc (unit recognition object) is recognized and a work instruction including a movement target of the end effector 34 with the recognized cart mark Mc as a base point is generated. Next, the management computer 3 transmits the generated work instruction to the transfer device V (ST3: work instruction transmission step).

In FIG. 13, upon receiving the work instruction, the transfer device V executes the replacement work in accordance with the work instruction. First, if recognition of various marks is instructed in the work instruction (Yes in ST4), the exchange control unit 46 controls the robot mechanism 31 to move the mobile camera 35 (imaging unit, recognition unit) in front of the cart mark Mc. (arrow c1 in FIG. 14A) to recognize the cart mark Mc (ST5: unit recognition step). That is, the unit recognition body (cart mark Mc) attached (formed) to the external appearance of the parts supply unit (parts supply cart 5) is recognized.

Note that when the recognition of various marks is instructed, the transfer device V may determine whether the recognition of various marks matches the various marks specified in the work instruction. It judges whether the various marks are correct and stops the work if they do not match. By doing so, it is possible to prevent work errors caused by the parts supply unit being replaced due to an operator's mistake.

Next, the moving camera 35 (imaging section, recognition section) moves in front of the supply device recognition body (tape feeder mark Mt, stick feeder mark Ms) and recognizes the supply device recognition body (ST6: supply device recognition step). Note that here, since the work instruction does not include recognition of the supply device recognition object, the supply device recognition step (ST6) is skipped. If recognition of the external shape is instructed in the work instruction (No in ST4), the exchange control unit 46 controls the robot mechanism 31 to recognize the external shape of the component supply unit or component supply device instructed by the moving camera 35. (ST7: Outer shape recognition step).

When mark recognition (ST5, ST6) or external shape recognition (ST7) is completed, the route setting unit 47 then sets a movement route for moving the end effector 34 based on the work instructions and recognition results (ST8: route setting section 47). setting process). As a result, a movement route is set in which stop errors of the transfer device V, deviations of the component supply device and component container in the component supply unit, etc. are corrected. Next, the exchange control unit 46 controls the robot mechanism 31 based on the set movement path to move the end effector 34 to the parts reel 16 to be replaced (arrow c2 in FIG. 14B), and moves the end effector 34 to the parts reel 16 to be replaced (arrow c2 in FIG. 14B). 16.

In FIG. 13, the replacement control section 46 then moves the end effector 34 holding the component reel 16 to remove the component reel 16 from the upper reel holding section 5U (ST9), rotates the component reel 16 by 90 degrees, and transfers the component reel 16 to the storage section 32. (arrow c3 in FIG. 14C) and store it in an empty storage shelf 32a (ST10). Next, the exchange control unit 46 causes the end effector 34 to grip and take out the component reel 16 to be supplied on the storage shelf 32a (ST11) (arrow c4 in FIG. 15A). At this time, the reel mark Mb attached to the component reel 16 is imaged by the head camera 37, and it is verified whether the component reel 16 is the designated component reel 16 to be supplied.

Next, the exchange control unit 46 rotates the end effector 34 that grips the component reel 16 by 90 degrees, moves it to the front of the component supply cart 5 (arrow c5 in FIG. 15B), and transfers the component reel 16 to be supplied to the specified upper reel. Attach it to the holding part 5U (ST12) (arrow c6 in FIG. 15C). Next, if the parts reel 16 (parts container) to be replaced remains and the replacement work is not completed (No in ST13), the process returns to the work instruction generation step (ST2) and the replacement work of the next parts reel 16 is executed. be done. When the replacement work for all component reels 16 is completed (Yes in ST13), the automatic replacement ends.

Note that if the work instructions generated and transmitted by the management computer 3 (first ST2, ST3) include the entire process of replacement work, the process does not return to the work instruction generation process (ST2) but returns to ST4. Then, the next replacement operation is performed. Furthermore, if the necessary information has been acquired in the first time, the second and subsequent mark recognition (ST5, ST6) or outer shape recognition (ST7) is skipped.

In this way, ST9 to ST12 are based on the movement route set in the route setting step (ST8) and the recognition results in the unit recognition step (ST5), the supply device recognition step (ST6), or the external shape recognition step (ST7). , a moving step in which the end effector 34 is moved to at least one of the component supply device and the component container. That is, the automatic replacement method of this embodiment includes a unit recognition step (ST5), a route setting step (ST8), and a movement step (ST9 to ST12). Thereby, the component reel 16 (component container) can be replaced accurately.

In the automatic replacement method shown in FIG. 13, when replacing the component supply device (tape feeder 13, stick feeder 14), the mounting part mark Ma is recognized in the unit recognition step (ST5). In addition, when replacing the tray 23 (component container) of the tray feeder 6 (component supply unit), the opening/closing mark Mo is recognized in the unit recognition step (ST5), and the opening/closing cover 27a is opened/closed and the pallet is placed in the moving step. The tray mark Mp of the tray 23 in the section 27 is recognized by the moving camera 35 (imaging section, imaging means).

In addition, when replacing the magazine 25 (component container) of the tray feeder 6 (component supply unit), the rack mark Ml is recognized in the unit recognition step (ST5), and the rack door 26a is opened/closed and the rack section 21 is opened/closed in the movement step. The moving camera 35 recognizes the magazine mark Mm of the magazine 25 located at the position. Further, when inserting the component storage tape 15 into the tape insertion opening 13a of the tape feeder 13 after replacing the component reel 16, the tape feeder mark Mt is recognized in the supply device recognition step (ST6). Further, when replacing the stick case 17 (component container) of the stick feeder 14, the stick feeder mark Ms is recognized in the supply device recognition step (ST6).

As described above, the component mounting system 1 according to the present embodiment includes a component supply device (tape feeder 13, stick feeder 14, pallet moving section 22), component containers (component reel 16, stick case 17, tray 23, At least one of the magazines 25) is replaced. The parts container accommodates a plurality of parts D. The component supply device moves the component D accommodated in the component container to the component supply position E. The parts supply device and the parts container are included in a parts supply unit (components supply cart 5, tray feeder 6).

The automatic exchange system has a transfer device V. The transfer device V includes an end effector 34, a moving mechanism (robot mechanism 31), a recognition section (moving camera 35), a route setting section 47, and a control section (exchange control section 46). The end effector 34 grips a component supply device or a component container. The robot mechanism 31 moves the end effector. The moving camera 35 recognizes unit recognition bodies (cart mark Mc, mounting part mark Ma, rack mark Ml, opening/closing mark Mo) attached to the external appearance of the component supply unit (formed on the component supply unit). The route setting unit 47 sets a movement route for moving the end effector 34. The exchange control section 46 controls the movement mechanism.

Then, the control section moves the end effector 34 to at least one of the component supply device and the component storage container based on the set moving route and the recognition result by the recognition section. This allows the parts container to be replaced accurately.

The above explanation is based on an example of so-called internal setup in which the component supply device or component container is replaced in the component supply unit (component supply cart 5, tray feeder 6) mounted on the component mounting devices M2 to M4. Disclosure is not limited to internal arrangements. For example, the present invention can also be applied to so-called external setup in which a component supply device or a component container is replaced in a component supply unit (component supply cart 5, tray feeder 6) that has been removed from the component mounting devices M2 to M4. In that case, the replacement work information 40e specifies a preparation area for off-site setup as the location of the replenishment target or replacement target. In the external setup, the component supply unit may be moved to a transfer device V fixed to the floor F, and the component supply device or component container may be replaced at the replacement position.

In addition, various marks do not have to be made up of a single figure; for example, they can be made up of multiple figures, such as enclosed characters, and recognition is performed on the entire mark made up of multiple figures, and when a specific figure is may be used as coordinates for correction.

Next, a second embodiment of the parts supply cart (hereinafter referred to as "second parts supply cart 70") will be described with reference to FIGS. 16, 17A, and 17B. The second component supply cart 70 is a component supply unit that has a component container and a component supply device, and supplies the components D to the component mounting devices M2 and M3, like the component supply vehicle 5 described above. The second component supply cart 70 differs from the component supply cart 5 in that it has cart recognition targets G1 and G2 instead of the cart mark Mc, and mounting section recognition targets G3 and G4 instead of the mounting section mark Ma. Hereinafter, the same components as those of the parts supply cart 5 will be denoted by the same reference numerals, and detailed explanations will be omitted.

In FIG. 16, a lower plate 71 is installed on the front surface of the lower part 5a of the second component supply cart 70, and extends in the board transport direction (X direction) on the XY plane (horizontal surface). At both ends of the lower plate 71 in the X direction, left and right side plates 72 and 73 extending in the YZ plane are installed, respectively, extending upward. A left back plate 74 is installed on the left side of the lower plate 71 and extends in the ZX plane perpendicularly to the left side plate 72 and the lower plate 71 (see also FIG. 17A). The lower plate 71, the left side plate 72, and the left back plate 74 constitute a left trolley recognition target G1. The corner where the lower plate 71, the left side plate 72, and the left back plate 74 intersect is the position Q1 of the left truck recognition target G1.

A right back plate 75 is installed on the right side of the lower plate 71 and extends in the ZX plane perpendicularly to the right side plate 73 and the lower plate 71. The lower plate 71, the right side plate 73, and the right back plate 75 constitute the right truck recognition target G2. The corner where the lower plate 71, the right side plate 73, and the right back plate 75 intersect is the position Q2 of the right trolley recognition target G2.

In FIG. 16, left and right support plates 76 and 77 extending in the YZ plane are installed at both ends of the feeder mounting section 12 in the X direction, respectively, and extending upward. An upper plate 78 extending in the X direction on the XY plane is installed between the upper part of the left support plate 76 and the upper part of the right support plate 77. A left back plate 79 is installed on the left side of the upper plate 78 and extends in the ZX plane perpendicular to the left support plate 76 and the upper plate 78 (see also FIG. 17B). The upper plate 78, the left support plate 76, and the left back plate 79 constitute a left attachment part recognition target G3. The corner where the upper plate 78, the left support plate 76, and the left back plate 79 intersect is the position Q3 of the left attachment part recognition target G3.

On the right side of the upper plate 78, a right back plate 80 is installed which extends in the ZX plane perpendicularly to the right support plate 77 and the upper plate 78. The upper plate 78, the right support plate 77, and the right back plate 80 constitute a right attachment part recognition target G4. The corner where the upper plate 78, the right support plate 77, and the right back plate 80 intersect is the position Q4 of the right mounting part recognition target G4.

The trolley recognition targets G1 and G2 and the mounting part recognition targets G3 and G4 are unit recognition bodies for recognizing the position of the second component supply trolley 70 and the position of the feeder mounting part 12. In the second parts supply cart 70, "target" is stored in the recognition method 52 of the unit information 40b stored in the management storage section 40 of the management computer 3. Further, the unit information 40b stores position information of the trolley recognition targets G1, G2 and the mounting part recognition targets G3, G4 in the second component supply trolley 70.

Next, a second embodiment of the transfer device (hereinafter referred to as "second transfer device V1") will be described with reference to FIG. 18. The second transfer device V1, like the transfer device V described above, has a robot mechanism 31 and a storage section 32 above the truck section 30, and an end effector 34 is disposed at the tip of the robot mechanism 31. The second transfer device V1 differs from the transfer device V in that a contact sensor 81 is installed at the tip of the end effector 34. Hereinafter, the same components as those of the transfer device V will be denoted by the same reference numerals, and detailed explanations will be omitted.

In FIG. 18, the contact sensor 81 has an elongated cylindrical shape that protrudes from the front surface of the end effector 34, and when the robot mechanism 31 moves the end effector 34 in the X direction, Y direction, and Z direction, the contact sensor 81 is integrated with the end effector 34. It moves in the X direction, Y direction, and Z direction. When the contact sensor 81 moves and the cylindrical tip or side surface contacts an object, it can detect in which direction the contact occurs. The detection result of the contact sensor 81 is transmitted to the recognition processing section 36. The recognition processing unit 36 recognizes (calculates) the position where the contact sensor 81 contacts the object based on the position of the end effector 34 (the operation of the robot mechanism 31).

Next, referring to FIGS. 19A to 19C, the second transfer device V1 includes the tape feeder 13, which is a component supply device mounted on the second component supply cart 70 (component supply unit), and the component reel 16, which is a component container. The unit recognition step (ST5) that is executed when automatically exchanging the unit will be explained. Here, it is assumed that the transfer device moving step (ST1) in which the second transfer device V1 is moved in front of the second component supply cart 70 according to the work instructions has been completed. That is, it is assumed that the second transfer device V1 and the second component supply truck 70 are in the same positional relationship as the transfer device V and the component supply truck 5 shown in FIGS. 14A to 15C.

In the following, an example will be described in which the left trolley recognition target G1 is recognized. That is, in the work instruction generation step (ST2), the work instruction generation unit 41 generates a work instruction that includes information on a unit recognition object that specifies the left trolley recognition target G1 as a recognition target recognized by the contact sensor 81 (recognition unit). is being generated. Then, in the unit recognition step (ST5), the exchange control unit 46 controls the robot mechanism 31 to move the contact sensor 81 in front of the left trolley recognition target G1, execute a contact detection operation to be described later, and The position Q1 of the trolley recognition target G1 is recognized.

In the contact detection operation in FIG. 19A, first, the exchange control unit 46 moves the contact sensor 81, which is moving in front of the left trolley recognition target G1, in the Y direction (arrow d1). In FIG. 19B, when it is detected that the tip end surface of the contact sensor 81 has contacted the left back plate 74, the exchange control unit 46 stops the movement of the contact sensor 81 in the Y direction. Next, the exchange control unit 46 moves the contact sensor 81 in the X direction toward the left side plate 72 while bringing the tip end surface of the contact sensor 81 into contact with the left back plate 74 (arrow d2).

In FIG. 19C, when it is detected that the side surface of the contact sensor 81 has contacted the left side plate 72, the exchange control unit 46 stops the movement of the contact sensor 81 in the X direction. Next, the exchange control unit 46 moves the contact sensor 81 in the Z direction toward the lower plate 71 while bringing the side surface of the contact sensor 81 into contact with the left side plate 72 (arrow d3). When it is detected that the side surface of the contact sensor 81 has contacted the lower plate 71, the exchange control unit 46 stops the movement of the contact sensor 81 in the Z direction. Through this series of contact detection operations, the contact sensor 81 stops at the corner position where the lower plate 71, the left side plate 72, and the left back plate 74 intersect.

Next, the recognition processing unit 36 calculates (recognizes) the position Q1 of the left trolley recognition target G1 based on the position where the contact sensor 81 has stopped. The recognized position Q1 (recognition result) of the left trolley recognition target G1 is stored in the transfer storage unit 44 as recognition result information 44b. Note that the order in which the contact sensors 81 make contact due to the contact detection operation is not limited to the above. For example, the left back plate 74, the lower plate 71, and the left side plate 72 may be contacted in this order. Furthermore, in the unit recognition step (ST5), the position Q2 of the right hand truck recognition target G2 may also be recognized. By recognizing the positions Q1 and Q2 of the two truck recognition targets G1 and G2, the position of the second parts supply truck 70 can be recognized more accurately.

Further, in the supply device recognition step (ST6), the exchange control unit 46 controls the robot mechanism 31 to move the contact sensor 81 in front of the left mounting part recognition target G3, execute a contact detection operation, and move the contact sensor 81 to the left side. The position Q3 of the attached part recognition target G3 is recognized. In addition, in the supply device recognition step (ST6), the position Q4 of the right mounting part recognition target G4 may also be recognized. By recognizing the positions Q3 and Q4 of the two mounting part recognition targets G3 and G4, the position of the feeder mounting part 12 can be recognized more accurately.

In this way, the trolley recognition targets G1, G2 and the mounting part recognition targets G3, G4 are contact objects (unit recognition objects) formed on the component supply unit (second component supply trolley 70). Further, the contact sensor 81 is a detection unit (recognition unit) that moves together with the end effector 34 and detects contact with the object to be contacted. The recognition result by the contact sensor 81 (recognition unit) is the position (positions Q1 to Q4) where the detection unit has contacted the object to be touched.

The position Q2 of the right trolley recognition target G2 in the unit recognition step (ST5) is recognized by the above-mentioned contact detection operation in which the right rear plate 75, the right side plate 73, and the lower plate 71 are sequentially contacted. In addition, it may be performed in combination with the distance detection operation described below.

Here, the distance detection operation will be explained with reference to FIG. 20. In the distance detection operation, after the contact sensor 81 detects the position Q1 of the left trolley recognition target G1 by the contact detection operation, the exchange control unit 46 controls the robot mechanism 31 to move the side surface of the contact sensor 81 to the lower plate 71. While making contact, the contact sensor 81 is moved in the X direction toward the right side plate 73 (arrow e1). When it is detected that the side surface of the contact sensor 81 has contacted the right side plate 73, the exchange control unit 46 stops the movement of the contact sensor 81 in the X direction.

Due to this distance detection operation, the contact sensor 81 stops at the corner position where the lower plate 71, the right side plate 73, and the right back plate 75 intersect. Next, the recognition processing unit 36 calculates the distance R that the contact sensor 81 has moved after detecting the position Q1 of the left trolley recognition target G1. Further, the recognition processing unit 36 calculates (recognizes) the position Q2 of the right hand truck recognition target G2 from the position Q1 of the left hand truck recognition target G1 and the distance R that the contact sensor 81 has moved. The distance detection operation can shorten the time required to recognize the position Q2 of the right trolley recognition target G2.

In FIG. 20, the recognition of the position Q4 of the right mounting part recognition target G4 in the supply device recognition step (ST6) may also be performed by combining the contact detection operation and the distance detection operation. That is, after recognizing the left mounted part recognition target G3, the contact sensor 81 is moved in the X direction along the upper plate 78 (arrow e2), and based on the distance the contact sensor 81 has moved, the right mounted part recognition target is recognized. The position Q4 of G4 may also be calculated. The recognition result by the contact sensor 81 (recognition unit) in the distance detection operation includes the following: Includes the distance traveled.

In the above, the object to be contacted, which is the object to be detected by the contact sensor 81 (detection section), is the trolley recognition targets G1 and G2 formed on the lower part 5a of the second component supply trolley 70 and the feeder mounting section 12. Although the attachment part recognition targets G3 and G4 are used, recognition targets (contacted objects) may be formed on other objects and detected (recognized) by the contact sensor 81. For example, instead of the tape feeder mark Mt formed on the tape feeder 13 or the stick feeder mark Ms formed on the stick feeder 14, a recognition target is formed as a supply device recognition body, and the position of the component supply device is detected by the contact sensor 81. (recognition).

The automatic exchange system, management device, and automatic exchange method of the present disclosure have the effect of being able to accurately exchange component containers, and are useful in the field of mounting components on boards.

1 Component mounting system 2 Communication network 3 Management computer 3a Wireless management communication unit 4 Component supply unit 5 Component supply cart 5a Lower part 5B Lower reel holding unit 5U Upper reel holding unit 6 Tray feeder 7 Base 8 Board transfer mechanism 9 Board 10 Mounting head 10a Suction nozzle 12 Feeder mounting section 13 Tape feeder 13a Tape insertion port 14 Stick feeder 14a Loading section 15 Component storage tape 16 Component reel 17 Stick case 18 Mounting control section 20 Feeder mounting section 21 Rack section 22 Pallet moving section 23 Tray 24 Pallet 25 Magazine 26 Magazine holding section 26a Rack door 27 Pallet mounting section 27a Opening/closing cover 28 Pallet mounting table 28a Removal mechanism 29 Lifting mechanism 30 Dolly section 30a Wheels 31 Robot mechanism (moving mechanism)
32 Storage section 32a Storage shelf 33 Traveling mechanism 34 End effector 35 Moving camera (recognition section)
36 Recognition processing section 37 Head camera 40 Management storage section 40a Parts information 40b Unit information 40c External dimension information 40d Supply device information 40e Replacement work information 41 Work instruction generation section 42 Management input section 43 Management display section 44 Transfer storage section 44a Work instruction information 44b Recognition result information 45 Travel control section 46 Replacement control section 47 Route setting section 50 Unit number 51 Unit type 52, 62 Recognition method 53 Reel correction value 53x, 54x, 63x X direction deviation amount 53z, 54z, 63z Z direction deviation Amount 54 Slot correction value 55 Unit specific information 56 Holding part number 57 Holding part position 57x Side plates 74, 75, 79, 80 Back plates 76, 77 Support plate 78 Upper plate 81 Contact sensor D Part E Part supply position G1, G2 Carriage recognition target G3, G4 Mounting part recognition target Ma Mounting part mark Mc Carriage mark Ml Rack mark Mo Opening/closing mark Ms Stick feeder mark Mt Tape feeder mark T Wireless communication section V Transfer device V1 Second transfer device

Claims (14)

The component of a component supply unit, which includes a lower part that holds a component container that stores components, and a feeder mounting section that is equipped with a component supply device that moves the component stored in the component container to a component supply position. An automatic exchange system for exchanging containers, the system comprising:
an end effector that holds the component container;
a movement mechanism configured to move the end effector;
a recognition section that is provided in the lower part of the component supply unit and the feeder mounting section and recognizes a plurality of unit recognition bodies for identifying the component supply unit;
a route setting unit that sets a movement route for moving the end effector;
A transfer device having a control unit that controls the movement mechanism,
The control unit moves the end effector to the component supply device based on the set movement route and the recognition result by the recognition unit.
Automatic exchange system. further comprising a management device having a work instruction generation unit that generates a work instruction including a movement target of the end effector based on external dimension information of the component supply unit,
The route setting unit sets the movement route based on the work instruction.
The automatic exchange system according to claim 1. The work instruction generation unit generates the work instruction so as to further include information about the unit recognition object recognized by the recognition unit.
The automatic exchange system according to claim 2. The work instruction generation unit includes:
a unit position correction value for correcting the moving target of the end effector based on the positional deviation of the unit recognition body;
a supply device position correction value for correcting the moving target of the end effector based on a positional shift of a supply device recognition body for identifying the component supply device provided in the component supply device;
correcting the moving target of the end effector based on at least one of the following, and generating the work instruction including the corrected moving target;
The automatic exchange system according to claim 2. The component supply device is provided with a supply device recognition body for identifying the component supply device,
The recognition unit further recognizes the supply device recognition body,
The control unit moves the end effector to the component supply device based on the set movement route and the recognition result of the supply device recognition body by the recognition unit.
The automatic exchange system according to claim 1. The unit recognition body is a mark formed on the component supply unit,
The recognition unit is an imaging unit that images the mark,
The automatic exchange system according to claim 1. The unit recognition body is a contacted body formed in the component supply unit,
The recognition unit is a detection unit that moves together with the end effector and detects contact with the contacted object.
The automatic exchange system according to claim 1. The recognition result is a position where the detection unit has contacted the contacted object,
The automatic exchange system according to claim 7. The recognition result includes a distance traveled by the detection unit until it comes into contact with the to-be-contacted object.
The automatic exchange system according to claim 7. The component of a component supply unit, which includes a lower part that holds a component container that stores components, and a feeder mounting section that is equipped with a component supply device that moves the component stored in the component container to a component supply position. An automatic exchange method for exchanging a container using a transfer device equipped with a movable end effector, the method comprising:
a step of recognizing a plurality of unit recognition bodies provided in the lower part of the component supply unit and the feeder mounting section for identifying the component supply unit;
setting a movement path for moving the end effector;
a step of moving the end effector to the component supply device based on the set movement route and the recognition result of the unit recognition body;
Automatic exchange method. further comprising the step of generating a work instruction including a movement target of the end effector based on external dimension information of the component supply unit,
setting the movement route based on the work instruction;
The automatic exchange method according to claim 10 . generating the work instruction so as to include information on a recognition target to be recognized in the step of recognizing the unit recognition body;
The automatic exchange method according to claim 11 . a unit position correction value for correcting the moving target of the end effector based on the positional deviation of the unit recognition body;
a supply device position correction value for correcting the moving target of the end effector based on a positional shift of a supply device recognition body for identifying the component supply device provided in the component supply device;
correcting the moving target of the end effector based on at least one of the following, and generating the work instruction including the corrected moving target;
The automatic exchange method according to claim 11 . further comprising the step of recognizing a supply device recognition body provided in the component supply device for identifying the component supply device;
moving the end effector to the component supply device based on the set movement route and the recognition result of the supply device recognition body;
The automatic exchange method according to claim 10 .

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