JP7453114B2 - Measuring device, transfer device, and measuring method - Google Patents

Description

The present specification relates to a measuring device, a transfer device, and a measuring method.

2. Description of the Related Art Conventionally, a storage warehouse for storing articles used in the production of boards using a board-to-board working machine has been known (for example, see Patent Document 1). The article to be stored is a reel or the like. This storage has a plurality of storage spaces each capable of accommodating articles, and a plurality of storage shelves on which the articles are placed.

International Publication No. 2019/138548

Incidentally, an actuator such as a robot arm may be used to place an article on or take out an article from a storage shelf of a storage warehouse. If all the storage shelves in the storage are accurately attached to the main body of the storage in a predetermined posture, the actuator will move the article onto the storage shelf in a predetermined trajectory corresponding to the predetermined posture. It is possible to carry out the transfer appropriately by following the instructions.

However, it is difficult to accurately attach the storage shelf to the main body of the storage in a predetermined posture, and the installation of the storage shelf to the main body is difficult due to repeated transfers of items during the operation of the storage. The posture may deviate from the prescribed posture. When the mounting position of the storage shelf with respect to the main body section is deviated in this way, if the actuator is operated as if there is no deviation, there is a possibility that the article will not be transferred to the storage shelf appropriately.

In particular, if the storage space above the storage shelf is increased, it becomes possible to tolerate errors in the mounting orientation of the storage shelf and solve the above problem, but on the other hand, the number of items stored in the storage It will decrease.

This specification provides a measuring device and a measuring method that can measure the mounting attitude of a storage shelf with respect to the main body of a storage, and the measured mounting attitude of the storage shelf even if the storage space above the storage shelf is small. Disclosed is a transfer device capable of appropriately transferring articles to the storage shelf according to the present invention.

This specification is a measurement applied to a storage that includes a storage shelf having a mounting surface on which an article used for producing a board by a board-to-board working machine is placed, and a main body to which the storage shelf is attached. The apparatus comprises: a jig having a jig main body movably supported by the main body; and a plurality of detection parts each disposed at a prescribed fixed position with respect to a reference position of the jig main body; a moving unit that moves the jig relative to the storage shelf along the placement surface of the storage shelf in a predetermined direction different from a direction in which the detection units are connected; and a moving unit that moves the jig relative to the storage shelf. a detection position specifying section for specifying a detection position at which a predetermined portion of the storage shelf is detected by each of the detection sections in the process of moving in the predetermined direction; Based on the above, a measuring device is disclosed that includes a measuring section that measures the mounting attitude of the storage shelf with respect to the main body.

Further, the present specification is applied to a storage warehouse including a storage shelf having a mounting surface on which an article used for producing a board by a board-to-board working machine is placed, and a main body to which the storage shelf is attached. In the measuring method, a jig having a jig main body movably supported by the main body and a plurality of detection parts each disposed at a prescribed fixed position with respect to a reference position of the jig main body is placed in the housing. Detection in which a predetermined portion of the storage shelf is detected by each of the detection units in the process of moving the shelf along the placement surface of the storage shelf in a predetermined direction different from a direction connecting the detection units. A measuring method is disclosed in which a position is specified and an attachment attitude of the storage shelf relative to the main body is measured based on the fixed position and the detected position in each of the detection units.

According to the present disclosure, a jig to which a plurality of detection parts are attached is moved in a predetermined direction to identify a detection position where a predetermined part of the storage shelf is detected by each detection part, so that the main body of the storage It is possible to measure the installation posture of the storage shelf relative to the storage shelf.

FIG. 1 is a configuration diagram of a board production facility according to an embodiment. FIG. 2 is a plan view illustrating an example of a state in which articles are housed in a housing case. It is a front view of the storage with which the board production equipment of an embodiment is provided. 4 is a plan view of the storage shown in FIG. 3. FIG. 4 is a perspective view of the storage shown in FIG. 3. FIG. FIG. 4 is a side view of the storage shown in FIG. 3 in the direction of arrow VI. FIG. 3 is a configuration diagram of a control block that controls the transfer of articles within the storage warehouse of the embodiment. It is a block diagram of the control block which controls the movement of the jig in the measuring device of embodiment. It is a perspective view of a jig with which a measuring device of an embodiment is provided. It is a top view showing the positional relationship between the jig in an initial state with which the measuring device of an embodiment is provided, and the storage shelf of a storage. It is a top view showing the positional relationship between the jig and the storage shelf of the storage at a predetermined forward position of the jig included in the measuring device of the embodiment. It is a top view showing the positional relationship of the jig and the storage shelf of a storage at the position where the detection part of the jig with which the measuring device of embodiment is provided passes the edge of the storage shelf. It is a top view showing the positional relationship of the jig and the storage shelf of a storage at the position where the left side detection part of the jig with which the measuring device of embodiment is provided passes the edge of the storage shelf. It is a top view showing the positional relationship of the jig and the storage shelf of a storage at the position where the right side detection part of the jig with which the measuring device of embodiment is provided passes the edge of the storage shelf. It is a flowchart of an example of the control procedure which measures the attachment attitude of the storage shelf with respect to the main body part of a storage part by the measuring device of embodiment. It is a flowchart of an example of the control procedure which uses the attachment attitude of the storage shelf with respect to the main body part of the storage part measured by the measuring device of the embodiment for transferring articles.

1. Embodiment A measuring device, a transfer device, and a measuring method according to an embodiment will be described with reference to the drawings.

1-1. Role of Measuring Device The measuring device 10 of this embodiment is a device applied to the storage 20. The measuring device 10 measures the mounting attitude of the storage shelf with respect to the main body of the storage 20, as will be described later.

1-2. Configuration of Board Production Equipment As shown in FIG. 1, the storage 20 is provided in the board production equipment 1. In addition to the storage 20, the board production facility 1 includes a board working machine 30, a loading section 40, and a transport vehicle 50.

The board-to-board work device 30 is a device that performs a predetermined board-to-board work on the board 100. A plurality of types of board-facing working machines 30 are provided. The board-related working machines 30 include, for example, a printing machine 31, a print inspection machine 32, a component mounting machine 33, a reflow oven 34, and an appearance inspection machine 35. Note that the substrate-facing working device 30 may include, for example, a function tester, a buffer device, a substrate supply device, a substrate reversing device, a shield mounting device, an adhesive coating device, an ultraviolet irradiation device, etc. . A plurality of types (for example, five types) of the board-to-board work machines 30 constitute a board-to-board work line arranged in a predetermined order. The substrates 100 are conveyed by the substrate conveyance device in the order in which the substrate-facing working machines 30 are arranged.

The printing machine 31 is a device that prints solder on a plurality of component mounting positions on the board 100. The solder printed on the substrate 100 functions as a bonding material for bonding the substrate 100 and the components mounted on the substrate 100. Solder used in the printing machine 31 is contained in a solder container 2a (see FIG. 2). The solder container 2a is, for example, a closed-end cylindrical or tube-shaped container that can be closed. Solder container 2a is article 2 used for producing substrate 100.

The print inspection machine 32 is a device that inspects the printing state of the solder printed on the substrate 100 by the printing machine 31. The component mounting machine 33 is a device that mounts a plurality of components onto the board 100 on which solder is printed. The number of component mounting machines 33 may be one or more. When a plurality of component mounting machines 33 are provided, the plurality of component mounting machines 33 can share the load and mount a plurality of components on the board 100.

The component mounting machine 33 includes a component supply device that supplies components to be mounted on the board 100. Components are supplied by this component supply device using, for example, a disc-shaped reel 2b, a feeder 2c to which the reel 2b is attached, a case-shaped tray 2d, and the like. The reel 2b, feeder 2c, and tray 2d are the articles 2 used for producing the substrate 100, respectively.

A component tape (carrier tape) for accommodating components is wound around the reel 2b. The reel 2b is rotatably and detachably attached to the feeder 2c. When the component storage portion of the component tape is pulled out to the component take-out portion of the feeder 2c, the component supply device takes out the component from the component take-out portion and supplies it to the board 100. The reel 2b is used, for example, to supply relatively small components such as chip components. Components are arranged on the tray 2d. The tray 2d is used, for example, to supply relatively large components such as QFP (Quad Flat Package) and BGA (Ball Grid Array).

The reflow oven 34 is a device that heats the board 100 on which a plurality of components are mounted by the component mounting machine 33 to melt the solder and solder the components to the board 100. The appearance inspection machine 35 is a device that inspects the mounting state of the plurality of components mounted on the board 100 by the component mounting machine 33.

In this way, the board production equipment 1 sequentially transports the boards 100 using the board transport device, and performs production processing on the board 100 using the plurality of types of board-related working machines 30, so that the parts are The mounted substrate 100 is produced.

The operation of each board-facing work machine 30 is controlled by a management device 36. Each board-to-board working device 30 and the management device 36 can communicate with each other through a wired or wireless communication section. The management device 36 controls each board-related work machine 30 and monitors the operating status on the board-related work line. The management device 36 stores various control data for controlling each board-facing work machine 30. The management device 36 transmits control data to each of the board-facing work machines 30. Further, each of the board-related working machines 30 transmits the operating status and production status to the management device 36.

Note that the articles 2 are not limited to the solder container 2a, the reel 2b, the feeder 2c, and the tray 2d, and may be any item used for substrate production by the substrate-to-substrate working machine 30 that performs a predetermined substrate-to-substrate operation on the substrate 100. For example, the article 2 may be a holding member such as a suction nozzle or a chuck that holds a component, or may be a holding member storage device such as a nozzle station that accommodates the holding member. An identification code 3 in which identification information for identifying the article 2 is stored is attached to the article 2. The identification code 3 is, for example, a one-dimensional code, a two-dimensional code, a wireless tag, or the like.

The loading section 40 is a place where the articles 2 are collected. When the article 2 arrives at the loading section 40, a predetermined loading operation is performed by an operator. This predetermined arrival work includes, for example, issuing identification information for the article 2 using an article management device, and reading a barcode attached to the article 2 by a supplier (vendor) using a barcode reader. Reading work, work of acquiring article information from a database in which article information regarding the article 2 is registered, work of storing at least identification information of the identification information and article information in the identification code 3 using the article management device, etc. It is. Note that the predetermined arrival work may include attaching the identification code 3 to the article 2.

When the article 2 is loaded as described above, the article 2 is loaded onto the transport vehicle 50 and transported to the storage warehouse 20. Note that this mounting work may be performed by an operator. After the article 2 is transported to the storage warehouse 20, it is transferred to the storage warehouse 20 and stored. Moreover, after the article 2 is stored in the storage 20, it is loaded on the conveyance vehicle 50 and conveyed to the board-facing work machine 30 as needed.

Note that the article 2 may be transported to the storage 20 by being loaded onto the transport vehicle 50 while being stored in the storage case 4 as shown in FIG. The storage case 4 only needs to be able to store at least one article 2. Moreover, a specific code 5 in which specific information for specifying the containing case 4 is stored is attached to the containing case 4 . The specific code 5 is, for example, a one-dimensional code, a two-dimensional code, a wireless tag, or the like.

When storing the article 2 in the storage case 4, the worker at the loading section 40 reads the specific code 5 using a reading device, and reads the identification code 3 attached to the article 2 using the reading device. As a result, a correspondence relationship between specific information that specifies the storage case 4 that accommodates the article 2 and identification information that identifies the article 2 is generated. The correspondence relationship is then transmitted to the storage section of the management device 36. Therefore, when the article 2 is stored in the storage case 4, the identification information of the article 2 is stored in the storage section of the management device 36 in association with the specific information of the storage case 4.

Note that in the following, "article 2" includes not only "article 2" but also "accommodation case 4 that accommodates article 2." Furthermore, "reading the identification code 3 of the article 2" includes not only "reading the identification code 3" but also "reading the specific code 5 of the storage case 4."

The transport vehicle 50 is a vehicle that transports the article 2. The transport vehicle 50 may be, for example, a vehicle towed by a worker, or may be an automatic guided vehicle (AGV) that can travel automatically. The transport vehicle 50 can travel along the route between the loading section 40 and the storage 20 and can travel along the route between the storage 20 and the substrate-facing work machine 30. Note that the transport vehicle 50 may be provided one by one corresponding to a plurality of routes, or only one transport vehicle 50 may be provided so as to be able to travel on all routes.

When the transport vehicle 50 is an automatic guided vehicle, it can communicate with the board-facing work machine 30, the loading section 40, the storage 20, and the management device 36 through a wired or wireless communication unit. For example, when the article 2 is loaded, the management device 36 selects a storage 20 that can store the article 2 and determines the destination. In this case, when the article 2 is loaded on the transport vehicle 50, the management device 36 transmits a transport command including the transport destination of the article 2 to the transport vehicle 50. Upon receiving the transport command, the transport vehicle 50 transports the article 2 to the storage 20 designated as the transport destination.

Note that the article 2 may be transported manually by an operator without using the transport vehicle 50. Furthermore, at least a portion of the work performed by the above-mentioned worker may be automated using a conveyance device (for example, a belt conveyor, etc.), an actuator (for example, a robot arm, etc.), an article management device, etc.

1-3. Configuration and operation of storage (including transfer unit and control unit as transfer device) Storage 20 is a storage space where articles 2 are stored and stored. The storage 20 can take various forms, and may be of a tower type having an octagonal prism shape, for example, as shown in FIGS. 3, 4, and 5. For example, the storage 20 may have a shape in which the periphery is surrounded and the upper part is open. Note that FIG. 6 shows the internal structure of the storage 20 when the storage 20 is viewed in the direction of arrow VI shown in FIG.

The storage 20 is installed and fixed on the floor. As shown in FIG. 7, the storage 20 includes a storage section 21, a storage section 22, a transfer section 23, and a control section 24. Note that a plurality of storages 20 may be provided in the substrate production facility 1.

The storage/retrieval unit 21 is a part for loading/unloading the articles 2 into/out of the storage 20 . The loading/unloading section 21 has an opening section 21a and a placing section 21b. The opening 21a is an opening formed in a size that allows the article 2 to be stored and taken out. The opening 21a is provided at the front of the storage 20. Note that the opening 21a is a dual-purpose opening that can both store and take out the articles 2, but the entrance for storing the articles 2 and the exit opening for taking out the articles 2 are different. It's okay.

The mounting portion 21b is provided in a work space near the opening 21a. The placing part 21b is a part on which the articles 2 that are entered and taken out through the opening part 21a are temporarily placed. The mounting portion 21b forms a predetermined angle θ with respect to the horizontal. Note that this predetermined angle θ may be 0° or more, but is preferably set to an angle that can prevent the article 2 (for example, the reel 2b) placed thereon from falling off. A worker or an actuator (for example, a robot arm, etc.) performs the work of loading the article 2 onto the mounting section 21b and the work of unloading the article 2 from the mounting section 21b.

A reading device 21c is provided above the placing portion 21b. The reading device 21c reads the identification code 3 of the article 2 and acquires identification information for identifying the article 2. The reading device 21c is, for example, a code reader that reads a one-dimensional code or a two-dimensional code, or a wireless reader that wirelessly communicates with a wireless tag. The reading device 21c reads the identification code 3 of the article 2 when the article 2 is stored through the opening 21a, and acquires at least the identification information of the identification information and the article information.

The storage section 22 is a part that stores and stores the articles 2. The storage section 22 includes a main body section 22a and a storage shelf 22b. The main body part 22a is a part fixed to the floor surface, and is erected upward. The main body portion 22a is formed into a U-shape when viewed in the vertical direction (Z-axis direction). The storage shelf 22b is a partition plate on which the articles 2 are placed. The storage shelf 22b has a placement surface 22c on which the article 2 is placed, as shown in FIG. The storage shelf 22b is attached to the main body portion 22a. The storage shelf 22b is provided so as to protrude from the main body portion 22a so that the mounting surface 22c forms a predetermined angle θ with respect to the horizontal. Note that the predetermined angle θ of the storage shelf 22b may match the predetermined angle θ of the above-mentioned mounting portion 21b.

The storage section 22 has a plurality of storage units 22t. The plurality of storage units 22t are arranged side by side in the circumferential direction around the center of the storage 20 as shown in FIG. There is. For example, two types of storage units 22t are provided depending on the size of the article 2. For example, a wide accommodation unit 22t1 and a narrow accommodation unit 22t2 are provided. The housing units 22t that overlap each other in the Z-axis direction are connected by a connecting portion 22j. Furthermore, the housing units 22t that are adjacent to each other in the circumferential direction are connected by a connecting portion 22j.

Note that the type, number, and arrangement of the accommodation units 22t may be set as appropriate. Further, the shape and size (width, depth, and height) of the storage unit 22t may be set according to the size of the article 2 to be stored. Furthermore, it is preferable that the accommodation units 22t that overlap each other in the Z-axis direction are of the same type, shape, and size.

Each accommodation unit 22t is erected and extends in the Z-axis direction. Each storage unit 22t has a plurality of (for example, 15) storage shelves 22b. The storage unit 22t is configured by stacking a plurality of storage shelves 22b in the Z-axis direction. The storage unit 22t can place and store the same number of articles 2 as the number of storage shelves 22b (for example, 15).

Moreover, each storage shelf 22b consists of a pair of partial shelves 22bL and 22bR, as shown in FIG. The pair of partial shelves 22bL, 22bR are spaced apart from each other in the horizontal direction. A gap is provided between the pair of partial shelves 22bL and 22bR to avoid interference between the storage shelf 22b and the transfer section 23. The pair of partial shelves 22bL and 22bR support opposite ends of the article 2 and place the article 2 thereon. The pair of partial shelves 22bL and 22bR are formed so that the lines connecting the respective sides formed at the front end 22d are in a straight line.

The transfer unit 23 is a device that transfers the articles 2 within the storage warehouse 20. The transfer section 23 is attached to the main body section 22a of the accommodating section 22. The attachment of the transfer section 23 to the main body section 22a is performed at the pivot center C of the transfer section 23, as shown in FIG. When storing the article 2, the transfer section 23 moves the article 2, which has been stored in the storage/unloading section 21 and placed on the placement section 21b, to the storage section 22 and places it on the storage shelf 22b. Further, when taking out the article 2, the transfer section 23 moves the article 2 placed on the storage shelf 22b of the storage section 22 to the storage section 21 and places it on the storage section 21b.

The transfer section 23 is provided inside the arrangement position of the storage unit 22t when viewed in the vertical direction (Z-axis direction). The transfer unit 23 can take various forms, and may include, for example, a robot arm (multi-joint robot), a lifting/lowering slide mechanism, and the like. The transfer section 23 includes a chuck 23a and a drive section 23b.

The chuck 23a is a member that grips the article 2. The chuck 23a is attached to the drive unit 23b so as to be movable within the storage 20. The drive unit 23b is a part that moves the chuck 23a and transfers the article 2 gripped by the chuck 23a between the placement unit 21b of the storage unit 21 and the storage shelf 22b of the storage unit 22. The drive unit 23b performs a lifting operation to raise and lower the chuck 23a along the Z-axis direction, which is an up-down direction, a turning operation to rotate the chuck 23a around the Z-axis direction, and a rotation operation to move the chuck 23a to the mounting part 21b or the storage shelf 22b. It is possible to perform forward and backward movements. The drive unit 23b realizes each operation using a stepping motor.

The control unit 24 is a device that controls the transfer of the articles 2 within the storage 20 . The control unit 24 includes an acquisition unit 24a and a transfer control unit 24b. The acquisition unit 24a is a part that acquires information on transferring the article 2 within the storage warehouse 20. This information is, for example, the external dimensions of the article 2 (specifically, the width, depth, and height dimensions). The acquisition unit 24a acquires information from an imaging device using a camera, a measuring device using an optical sensor, an ultrasonic sensor, a laser sensor, or the like.

The transfer control section 24b is connected to the transfer section 23. The transfer control unit 24b is a part that controls the transfer of the article 2 in the storage 20 by the transfer unit 23 based on the information acquired by the acquisition unit 24a. Specifically, the transfer control unit 24b selects, for example, a storage unit 22t that matches the external dimensions of the article 2 stored in the storage/unloading unit 21 acquired by the acquisition unit 24a, and stores the article 2 therein. The transfer unit 23 is commanded to transfer to the unit 22t. In this case, the transfer unit 23 transfers the article 2 to the storage unit 22t.

Note that the control unit 24 can store article information regarding the article 2 and can notify the management device 36 of the article information. For example, when the article 2 is a reel 2b, the article information includes the type of parts, number of parts (remaining number), reel diameter, reel thickness, model, supplier (vendor), and expiration date of the parts stored in the reel 2b. May include, etc.

Further, the control unit 24 can store position information of the article 2 in the storage unit 22, storage information, and storage information. The position information indicates, for example, the storage location of the article 2. The warehousing and retrieval information indicates, for example, the warehousing date and time and the warehousing date and time of the article 2. The storage information indicates information such as the atmospheric temperature and humidity of the storage section 22, for example. The control unit 24 stores the position information of the article 2 and the date and time of the article 2 when the article 2 is warehoused. The control unit 24 stores storage information while the article 2 is being stored. The control unit 24 stores the date and time of leaving the article 2 when the article 2 is leaving the warehouse.

Note that the storage 20 may include a display device 25 connected to the control unit 24, as shown in FIG. The display device 25 may display the above-mentioned position information, storage information, and storage information. Further, the display device 25 displays various data visibly for the operator. For example, article information regarding the article 2 stored in the storage section 22 is displayed in response to an operator's operation. Furthermore, the display device 25 may be configured with a touch panel or the like, and may also function as an input device that accepts various operations by the operator.

1-4. Controlling the transfer of articles within the storage warehouse The control unit 24 executes control of transferring the articles 2 within the storage warehouse 20 according to a control program. The work of placing the article 2 from the storage unit 21 to the storage unit 22 and the operation of taking out the article 2 from the storage unit 22 to the storage unit 21 by this transfer control are performed using the transfer unit 23. Specifically, the loading operation at the time of warehousing and the removal operation at the time of warehousing are performed by the lifting and lowering operation, the turning operation, and the forward and backward movement of the chuck 23a by the transfer unit 23.

At the time of warehousing, the control unit 24 performs warehousing loading control to transfer the articles 2 stored in the loading section 21b of the warehousing/unloading section 21 to the storage section 22. Further, the control unit 24 performs a take-out control at the time of leaving the warehouse, in which the articles 2 stored in the storage unit 22 are transferred to the placing unit 21b of the warehouse loading/unloading unit 21.

The placement control at the time of warehousing is performed in the following steps. That is, when the article 2 is placed on the placement section 21b at the time of storage, the acquisition section 24a acquires the external dimensions of the article 2. Then, the transfer control section 24b instructs the transfer section 23 to move the chuck 23a to the mounting section 21b. When such a command is given, the transfer unit 23 moves the chuck 23a to the front of the mounting unit 21b by rotating and raising and lowering it as necessary, and after the movement, moves the chuck 23a to the article on the mounting unit 21b. It is made to move forward at the same angle as the angle θ of the mounting part 21b until it reaches 2.

When the chuck 23a advances to the article 2 on the mounting section 21b, the transfer control section 24b instructs the transfer section 23 so that the chuck 23a grips the article 2. When such a command is issued, the chuck 23a of the transfer section 23 grips the article 2 on the mounting section 21b.

After the chuck 23a grips the article 2, the transfer control unit 24b instructs the transfer unit 23 to move the chuck 23a backward in the gripped state to the storage section 22 determined as a storage location. . When such a command is given, the transfer unit 23 moves the chuck 23a backward at the same angle as the angle θ of the placement unit 21b, and then rotates and raises and lowers it as necessary to move it to the front of the predetermined storage shelf 22b. After the movement, the chuck 23a is advanced at the same angle as the angle θ of the placement surface 22c of the storage shelf 22b so that the chuck 23a reaches a predetermined storage shelf 22b and is inserted into the space above the storage shelf 22b.

When the chuck 23a advances to a predetermined storage shelf 22b, the transfer control unit 24b releases the grip of the article 2 by the chuck 23a to the transfer unit 23 and places the article 2 on the predetermined storage shelf 22b. A command is given to place it on the surface 22c. When such a command is given, the chuck 23a of the transfer section 23 places the article 2 on the placement surface 22c of the storage shelf 22b. Thereby, the article 2 is stored in the storage section 22. When the storage of the article 2 in the storage section 22 is completed, the transfer control section 24b instructs the transfer section 23 to move the chuck 23a backward to a predetermined initial position. As a result, the chuck 23a of the transfer unit 23 is moved back to the initial position after being retreated at the same angle as the angle θ of the placement surface 22c of the storage shelf 22b.

Further, the control for taking out the goods at the time of leaving the warehouse is performed in the following procedure. That is, when an instruction is given to take out the article 2 stored in the storage section 22 at the time of storage, the transfer control section 24b moves the chuck 23a to the transfer section 23 on the storage shelf on which the article 2 is placed. 22b. When such a command is given, the transfer unit 23 moves the chuck 23a to the front of the storage shelf 22b by rotating and raising and lowering it as necessary, and after the movement, transfers the chuck 23a to the article 2 on the storage shelf 22b. It is advanced at the same angle as the angle θ of the storage shelf 22b until reaching the storage shelf 22b.

When the chuck 23a advances to the article 2 on the storage shelf 22b, the transfer control section 24b instructs the transfer section 23 so that the chuck 23a grips the article 2. When such a command is given, the chuck 23a of the transfer section 23 grips the article 2 on the storage shelf 22b.

After the chuck 23a grips the article 2, the transfer control unit 24b instructs the transfer unit 23 to move the chuck 23a backward and to the placement unit 21b in the gripped state. When such a command is issued, the transfer unit 23 moves the chuck 23a backward at the same angle as the angle θ of the storage shelf 22b, and then rotates and raises and lowers it as necessary to move the chuck 23a to the loading unit 21b of the loading/unloading unit 21. After moving the chuck 23a to the front, the chuck 23a is advanced at the same angle as the angle θ of the mounting portion 21b until it reaches the mounting portion 21b.

When the chuck 23a advances to the mounting section 21b, the transfer control section 24b instructs the transfer section 23 to release the grip of the article 2 by the chuck 23a and place the article 2 on the mounting section 21b. command. When such a command is issued, the chuck 23a of the transfer section 23 places the article 2 on the placement section 21b. Thereby, the article 2 is taken out to the placement section 21b of the storage/unloading section 21. When the removal of the article 2 onto the mounting section 21b is completed, the transfer control section 24b instructs the transfer section 23 to retreat the chuck 23a and move it to the initial position. As a result, the chuck 23a of the transfer section 23 is retreated at the same angle as the angle θ of the mounting section 21b, and then returned to the initial position.

1-5. Application of Measuring Device By the way, in this embodiment, the work of placing the article 2 from the loading section 21b of the loading/unloading section 21 onto the storage shelf 22b of the housing section 22 and the work of loading the article 2 from the storage shelf 22b to the loading section 21b are described. The removal operation is performed using the transfer section 23. In particular, a large number of storage shelves 22b are provided in the storage warehouse 20, and a plurality of storage shelves 22b are stacked in the Z-axis direction and arranged side by side in the circumferential direction. Limited. For this reason, when the chuck 23a of the transfer section 23 moves between the loading section 21b and the storage shelf 22b while holding the article 2, the mounting posture of the storage shelf 22b with respect to the main body section 22a is especially important. .

If the storage shelf 22b is attached to the main body portion 22a in a predetermined posture and the attachment posture is permanently maintained at the predetermined posture, the storage shelf 22b and the placement portion 21b are attached to the transfer section 23. By accurately transferring the article 2 between the two along a predetermined trajectory corresponding to its predetermined posture, it is possible to appropriately transfer the article 2 . However, it is difficult to attach the storage shelf 22b to the main body portion 22a in a predetermined attitude, and it is difficult to permanently maintain the attachment attitude in the predetermined attitude. Further, when the articles 2 are repeatedly transferred and loaded during operation of the storage 20, the attachment posture may deviate from a predetermined posture.

Therefore, in the present embodiment, the measuring device 10 measures the mounting orientation of the storage shelf 22b with respect to the main body 22a of the storage section 22 of the storage 20, and the transfer control section 24b of the control section 24 adjusts the mounting orientation to the measured mounting orientation. Based on this, the transfer of the article 2 by the drive unit 23b is controlled.

1-6. Configuration and operation of measuring device The measuring device 10 includes a jig 11, as shown in FIG. The jig 11 is an instrument that is moved to measure the attachment attitude of the storage shelf 22b with respect to the main body 22a of the storage section 22. The jig 11 has a jig main body 12 and a detection section 13, as shown in FIGS. 9, 10, 11, and 12. The jig 11 has a structure in which a detection section 13 is attached to a jig main body 12.

The jig main body 12 is a part that is movably supported by the main body part 22a. The jig main body 12 may be gripped by a chuck 23a of a transfer section 23 included in the storage 20, or may be attached to a drive section 23b of the transfer section 23 instead of the chuck 23a. The jig main body 12 is formed into a plate shape so as to be along the mounting surface 22c of the mounting section 21b of the loading/unloading section 21 and the storage shelf 22b of the storage section 22. The jig main body 12 has a predetermined thickness in the Z-axis direction. This predetermined plate thickness is set to a thickness that allows the jig 11 to be inserted into the space above the storage shelves 22b, that is, into the gap space between the storage shelves 22b stacked in the Z-axis direction.

The jig main body 12 also has a pair of arm portions 12L and 12R. Each of the arm portions 12L and 12R is provided on the forward side of the jig main body 12, that is, on the transfer portion 23 and further on the storage portion 22 side, which is the outer side of the storage 20 rather than the center side. Each arm portion 12L, 12R protrudes in an angular shape from the main body portion of the jig main body 12 toward the forward movement side. A distal end portion (that is, a front end portion) 12La of the arm portion 12L is formed at a position where it passes through an end 22d of the partial shelf 22bL of the storage shelf 22b when the jig 11 moves. Further, the tip end 12Ra of the arm portion 12R is formed at a position where the jig 11 passes through the end 22d of the partial shelf 22bR of the storage shelf 22b when moving.

The pair of arm portions 12L and 12R are separated into left and right sides and are arranged apart from each other when viewed from vertically above. A gap is provided between the pair of arm portions 12L and 12R to avoid interference between the jig 11 and the storage shelf 22b. The distance between the tips (ie, front ends) of the pair of arm portions 12L and 12R corresponds to the distance between the pair of partial shelves 22bL and 22bR of the storage shelf 22b.

The detection unit 13 is a sensor that detects the storage shelf 22b, which is a detection target, in a non-contact manner, and is, for example, an inductive, capacitive, ultrasonic, photoelectric, or magnetic proximity sensor. Two detection units 13 are provided. Hereinafter, the two detection units 13 will be appropriately referred to as a left side detection unit 13L and a right side detection unit 13R. The detection units 13L and 13R each output an electric signal depending on whether or not the storage shelf 22b is close to the storage shelf 22b within a predetermined detection distance.

The left side detection portion 13L is fixed to the lower surface of the tip portion 12La of the arm portion 12L of the jig main body 12. The right side detection section 13R is fixed to the lower surface of the tip 12Ra of the arm section 12R of the jig main body 12. The detection parts 13L and 13R are each arranged at a predetermined fixed position with respect to the reference position of the jig main body 12. Note that the reference position of the jig main body 12 is, for example, the gripping position of the jig 11 by the chuck 23a of the transfer unit 23 or the attachment position of the jig 11 to the drive unit 23b of the transfer unit 23, Even if the jig 11 is moved to an arbitrary position by the transfer section 23, the position can be specified with respect to the fixed point of the main body section 22a only by the amount of movement by the transfer section 23.

The two detection units 13L and 13R are spaced apart from each other by a predetermined distance X0. The direction connecting the centers of the two detection units 13L and 13R is perpendicular to the Z-axis direction, which is the vertical direction, and the jig 11 moves to measure the mounting orientation of the storage shelf 22b described above. Orthogonal to the direction of movement. Hereinafter, the direction connecting the centers of the two detection parts 13L and 13R in the jig 11 will be referred to as the X-axis direction, and the direction perpendicular to both the Z-axis direction and the X-axis direction will be referred to as the Y-axis direction. Note that the moving direction of the jig 11 described above includes a component in the Y-axis direction as well as a component in the Z-axis direction.

The measuring device 10 includes a moving section 14 that moves the jig 11, as shown in FIG. The moving unit 14 can move the jig 11 in any of the X-axis direction, Y-axis direction, and Z-axis direction, and can rotate the jig 11 in the circumferential direction around the rotation center C of the housing unit 22. It is. The moving section 14 can move the jig 11 to any position in the storage section 22 of the storage 20. Note that the moving section 14 may also serve as the transferring section 23 that transfers the article 2 by moving the chuck 23a described above.

The measuring device 10 includes a control section 15, as shown in FIG. The control unit 15 executes the control necessary to measure the attachment attitude of the storage shelf 22b with respect to the main body 22a of the storage unit 22 according to the control program. Specifically, the control unit 15 controls the movement of the moving unit 14 in order to measure the mounting orientation thereof, and during the movement, determines whether the storage shelf 22b is close or not using each of the two detection units 13. Execute processing.

The control section 15 includes a movement control section 15a, a detection position specifying section 15b, and a measuring section 15c. The movement control section 15a is a section that controls the movement of the jig 11 by the moving section 14 in order to measure the mounting posture of each storage shelf 22b provided in the storage 20 one by one. The movement control unit 15a may control the movement of the jig 11 on all the storage shelves 22b in order, or may control the movement of the jig 11 on a part of all the storage shelves 22b selected by the operator or the like. It may also be performed on the storage shelf 22b.

When the storage shelf 22b to be measured is determined (step S11 shown in FIG. 15), the movement control unit 15a first rotates and raises and lowers the jig 11 from the original position with respect to the moving unit 14 as necessary to store the jig 11. A command is given to move the shelf 22b to the default position where it is predicted to exist (step S12). When such a command is issued, the moving unit 14 moves the jig 11 to the front side of the storage shelf 22b by turning and raising/lowering the jig 11 as necessary, and after the movement, moves the jig 11 to the angle θ of the storage shelf 22b. move forward at the same angle.

The jig 11 moves forward in a direction perpendicular to the X-axis direction connecting the two detection parts 13L and 13R (specifically, their centers). Further, this forward movement is performed until the tip portions 12La, 12Ra of the arm portions 12L, 12R of the jig main body 12 reach a predetermined forward position located further back than the end 22d of the storage shelf 22b. Note that this predetermined forward position has a predetermined distance relationship (particularly a distance relationship in the Y-axis direction in which the jig 11 moves) with respect to a fixed point of the main body portion 22a of the storage portion 22 (for example, the rotation center of the transfer portion 23). ).

When the jig 11 is advanced to the predetermined advance position, the movement control unit 15a next instructs the jig 11 to be moved backward along the mounting surface 22c of the storage shelf 22b (step S13). . When such a command is given, the moving unit 14 moves the jig 11 backward at the same angle as the angle θ of the storage shelf 22b.

The backward movement of the jig 11 is performed in a direction perpendicular to the X-axis direction connecting the two detection parts 13L and 13R (specifically, their centers) (specifically, in the opposite direction from when moving forward). ) to be carried out. Further, this retraction is performed in increments of a predetermined amount, specifically, in increments of one step, which is the minimum unit of operation of the stepping motor that is the drive source. Further, this retraction is performed until the tip portions 12La, 12Ra of the arm portions 12L, 12R reach a predetermined retraction position located closer to this side than the end 22d of the storage shelf 22b.

In the process of moving the jig 11 from the predetermined forward position to the predetermined retreat position by the moving unit 14, the tip 12La of the arm portion 12L of the jig 11 passes the end 22d of the partial shelf 22bL of the storage shelf 22b, and the jig The tip 12Ra of the arm portion 12R of the tool 11 passes through the end 22d of the partial shelf 22bR of the storage shelf 22b.

Before the tip portions 12La and 12Ra pass the end 22d of the storage shelf 22b, that is, when moving along the placement surface 22c of the storage shelf 22b, the detection unit 13 detects that the storage shelf 22b is below a predetermined detection distance. It outputs an electrical signal (hereinafter referred to as a proximity signal) indicating that it is in close proximity to. On the other hand, after the tips 12La and 12Ra pass the end 22d of the storage shelf 22b, the detection unit 13 receives an electric signal (hereinafter referred to as proximity detection distance) indicating that the storage shelf 22b is not closer than a predetermined detection distance (referred to as no signal) is output.

The detection position specifying section 15b is connected to the detection section 13. The detection position specifying section 15b is a section that specifies the detection position where the end 22d of the storage shelf 22b is detected based on the electric signal supplied from the detection section 13. Specifically, the detection position specifying section 15b detects a step position where the electric signal from the detection section 13 switches from a proximity signal to a no proximity signal during the movement of the jig 11 from a predetermined forward position by the moving section 14. Then, the step position is specified as the position where the end 22d of the storage shelf 22b exists. The detection position specifying unit 15b specifies the left side detection position as the above-mentioned detection position for the left side detection unit 13L, and also specifies the right side detection position as the above-mentioned detection position for the right side detection unit 13R (step S14).

The measuring section 15c is connected to the movement control section 15a and the detection position specifying section 15b. The measuring part 15c is a part that measures the mounting attitude of the storage shelf 22b with respect to the main body part 22a. The measuring section 15c first calculates the absolute position of the above-mentioned detection position with respect to the fixed point of the main body section 22a of the accommodating section 22. This calculation is performed for each of the left side detection position and the right side detection position.

Specifically, as shown in FIG. 13, the measuring unit 15c measures the number of backward steps of the moving unit 14 from the predetermined forward position where the moving unit 14 starts moving the jig 11 to the left side detection position by the left side detection unit 13L. The amount of movement YL from the predetermined forward position to the left side detection position (hereinafter referred to as the left side movement amount) is calculated based on the amount of movement per one step of the moving unit 14 (step S15). Then, based on the predetermined forward position with respect to the fixed point of the main body part 22a of the accommodating part 22 and its leftward movement amount YL, the absolute position of the left side detection position with respect to the fixed point of the main body part 22a of the accommodating part 22 is measured (step S16 ).

Further, as shown in FIG. 14, the measuring section 15c calculates the number of backward steps of the moving section 14 from the above-mentioned predetermined forward position to the right side detection position by the right side detection section 13R and the amount of movement per step of the moving section 14. Based on this, the amount of movement YR from the predetermined forward position to the right side detection position (hereinafter referred to as the amount of right side movement) is calculated (step S15). Then, based on the predetermined forward position with respect to the fixed point of the main body part 22a of the accommodating part 22 and its rightward movement amount YR, the absolute position of the right side detection position with respect to the fixed point of the main body part 22a of the accommodating part 22 is measured (step S16 ).

Furthermore, the measuring unit 15c calculates a movement difference ΔY between the left side movement amount YL and the right side movement amount YR (step S17). Then, based on the calculated movement difference ΔY and the separation distance X0 between the two detection parts 13L and 13R, as shown in the following equation (1), The inclination angle β of the storage shelf 22b is measured (step S18; see FIG. 14).
tanβ=ΔY/X0...(1)

As described above, the measuring device 10 is a jig in which the two detection parts 13L and 13R are fixed to different positions of the jig main body 12 (specifically, the tips 12La and 12Ra of the arm parts 12L and 12R). 11 is moved relative to the storage shelf 22b along its mounting surface 22c with a predetermined forward position as a reference point. During the movement process of the jig 11, a left side detection position and a right side detection position where the end 22d of the storage shelf 22b is detected by the two detection units 13L and 13R are respectively specified. The fixed position of the left side detection part 13L in the jig body 12 and the left side detection position by the left side detection part 13L, and the fixed position of the right side detection part 13R in the jig body 12 and the right side detection by the right side detection part 13R. Based on the position, the mounting attitude of the storage shelf 22b with respect to the main body portion 22a is measured.

Specifically, the above-mentioned mounting posture of the storage shelf 22b is measured based on a predetermined forward position, a left side movement amount YL from the predetermined forward position to the left side detection position of the left side detection section 13L, and a left side movement amount YL from the predetermined forward position to the right side detection section. This is performed using the right side movement amount YR to the right side detection position of 13R.

The predetermined forward position is a position at a predetermined distance from the fixing point of the main body portion 22a of the accommodating portion 22. The arrangement positions of the left side detection section 13L and the right side detection section 13R in the jig main body 12 are respectively predetermined fixed positions with respect to the reference position of the jig main body 12. The reference position of the jig main body 12 is such that even if the jig 11 is moved to an arbitrary position by the transfer section 23, the position can be specified with respect to the fixed point of the main body section 22a only by the amount of movement by the transfer section 23. This is the position where

Therefore, the mounting posture of the storage shelf 22b is the position where the end 22d of the storage shelf 22b is relative to the fixed point of the main body 22a of the storage section 22 in the moving direction of the jig 11, and In contrast, the inclination angle β at which the storage shelf 22b is inclined is measured. Therefore, the attachment attitude of the storage 20 to the main body 22a can be measured for each storage shelf 22b.

To measure the mounting posture of the storage shelf 22b with respect to the main body 22a of the storage 20, the jig 11 to which the two detection units 13 are attached is moved in one direction along the mounting surface 22c of the storage shelf 22b. , the detection position where the end 22d of the storage shelf 22b is detected by each of the two detection units 13 may be specified. In this configuration, the two ends 22d of the storage shelf 22b are detected by only moving the jig 11 in one direction.

Therefore, the total moving time of the jig 11 to detect the two ends 22d of the storage shelf 22b can be shortened compared to the case where the jig 11 moves corresponding to each end 22d. . If the total moving time of the jig 11 is shortened, the number of steps of the jig 11 by the moving unit 14 will be reduced, which will prevent the detection unit 13 from erroneously obtaining sensor values due to slight movements of the jig 11. can be reduced. Therefore, by shortening the moving time of the jig 11, it is possible to reduce errors in measuring the mounting orientation of the storage shelf 22b. Furthermore, it is possible to improve the efficiency of measuring the mounting posture of the storage shelf 22b.

1-7. Utilization of Measured Attachment Posture of Storage Shelf The control unit 15 of the measuring device 10 is connected to the control unit 24 of the storage 20. As described above, when the measurement unit 15c measures the mounting attitude of the storage shelf 22b with respect to the main body 22a for each storage shelf 22b, the control unit 15 provides the control unit 24 with information on the mounting orientation. When the control section 24 acquires the information on the mounting posture for each storage shelf 22b sent from the control section 15 (step S21 shown in FIG. 16), the control section 24 uses the mounting posture for controlling the transfer of the article 2 by the transfer section 23. That is, the transfer control unit 24b of the control unit 24 controls the transfer unit 23 in the storage 20 so that the chucks 23a and eventually the articles 2 do not come into contact with the storage shelves 22b, based on the mounting posture of each storage shelf 22b. The transfer of the article 2 is controlled (step S22).

Therefore, according to the measured mounting attitude of the storage shelf 22b with respect to the main body 22a of the storage 20, it is possible to appropriately transfer the article 2 to the storage shelf 22b while suppressing interference between the article 2 and the storage shelf 22b. can. In particular, even if a large number of storage shelves 22b of the storage warehouse 20 are prepared and the storage space for the articles 2 above the storage shelves 22b becomes small, it is possible to prevent the storage shelves 22b from interfering with the storage shelves 22b with articles 2 of a size that matches the storage space. It can be accommodated accurately in its accommodation space without any problems. For this reason, according to the system that measures the mounting orientation of the storage shelves as described above and controls the transfer of the articles 2 to the storage shelves according to the mounting orientation, the number of stored items 2 can be reduced even in the storage 20 of the same size. It becomes possible to increase

By the way, in the above embodiment, the ends 22d of each partial shelf 22bL, 22bR of the storage shelf 22b correspond to the "predetermined portion" described in the claims. The end 22d of the partial shelf 22bL corresponds to the "first predetermined portion" described in the claims. The end 22d of the partial shelf 22bR corresponds to a "second predetermined portion" described in the claims.

The left side detection section 13L corresponds to the "first detection section" described in the claims. The right side detection section 13R corresponds to the "second detection section" described in the claims. The prescribed fixing position where the left side detection part 13L is fixed with respect to the reference position of the jig main body 12 corresponds to the "first fixing position" described in the claims. The prescribed fixing position where the right side detection part 13R is fixed with respect to the reference position of the jig main body 12 corresponds to a "second fixing position" described in the claims.

Further, the left side detection position corresponds to the "first detection position" described in the claims. The right side detection position corresponds to the "second detection position" described in the claims. A direction perpendicular to the X-axis direction connecting the two detection parts 13L and 13R and along the mounting surface 22c of the storage shelf 22b corresponds to the "predetermined direction" described in the claims. The transfer unit 23 corresponds to a “transfer unit” and a “moving device” described in the claims. The control section 24 corresponds to the "control section" described in the claims. The transfer section 23 and the control section 24 correspond to the "transfer device" described in the claims.

2. Modifications In the above embodiment, the number of detection units 13 provided in the jig 11 is two. However, the present disclosure is not limited thereto, and can be applied to a jig 11 provided with three or more detection units 13.

Further, in the above embodiment, the storage shelf 22b consists of a pair of partial shelves 22bL and 22bR spaced apart from each other in the horizontal direction, and the ends 22d of the partial shelves 22bL and 22bR are identified by the two detection units 13 as detection positions. be done. However, the present disclosure is not limited thereto, and the storage shelf 22b is formed in a shape that does not have any parts separated from each other, and the two ends 22d of the storage shelf 22b are detected by the two detection units 13. It may also be specified as a location.

Further, in the embodiment described above, the X-axis direction connecting the centers of the two detection units 13L and 13R and the moving direction of the jig 11 are orthogonal to each other. However, the present disclosure is not limited to this, and if the fixing positions of the two detection parts 13L and 13R are individually defined with respect to the reference position of the jig main body 12 in the jig 11, The X-axis direction connecting the centers of the detection parts 13L and 13R does not have to be orthogonal to the moving direction of the jig 11. However, it is necessary that the moving direction of the jig 11 be different from the X-axis direction connecting the centers of the two detection parts 13L and 13R.

Furthermore, in the embodiment described above, the detection unit 13 is used to detect the end 22d of the storage shelf 22b. However, the present disclosure is not limited thereto, and may be applied to detecting protrusions, depressions, marks, etc. provided at corners of the storage shelf 22b or at predetermined locations on the storage shelf 22b.

Note that the present disclosure is not limited to the embodiments and modifications described above, and various changes can be made without departing from the spirit of the present disclosure.

1: Board production equipment, 2: Article, 10: Measuring device, 11: Jig, 12: Jig main body, 12La, 12Ra: Tip part, 13: Detection part, 13L: Left side detection part (first detection part), 13R: Right side detection section (second detection section), 14: Movement section, 15: Control section, 15a: Movement control section, 15b: Detection position specification section, 15c: Measurement section, 20: Storage, 21: Input/output section , 22: Storage section, 22a: Main body section, 22b: Storage shelf, 22bL, 22bR: Partial shelf, 22c: Placement surface, 22d: End, 23: Transfer section, 23a: Chuck, 23b: Drive section, 24: Control unit, 24b: Transfer control unit, 30: Board-to-board working machine, 100: Board.

Claims (11)

A measuring device applied to a storage warehouse comprising a storage shelf having a mounting surface on which an article used for producing a board by a board-to-board working machine is placed, and a main body to which the storage shelf is attached, the measuring device comprising:
a jig having a jig body movably supported by the main body portion and a plurality of detection units each disposed at a prescribed fixed position with respect to a reference position of the jig body;
a moving unit that moves the jig with respect to the storage shelf along the placement surface of the storage shelf in a predetermined direction different from a direction that connects the detection units;
a detection position specifying unit that specifies a detection position at which a predetermined portion of the storage shelf is detected by each of the detection units in a process in which the moving unit moves the jig in the predetermined direction with respect to the storage shelf;
a measurement unit that measures the mounting orientation of the storage shelf with respect to the main body based on the fixed position and the detection position in each of the detection units;
A measuring device comprising: The plurality of detection sections include a first detection section disposed at a prescribed first fixed position relative to the reference position of the jig body, and a first detection section disposed at a prescribed second fixed position relative to the reference position of the jig body. a second detection section arranged;
The detection position specifying section specifies a first detection position where the first predetermined portion of the storage shelf is detected by the first detection portion, and the second predetermined portion of the storage shelf is detected by the second detection portion. identify the second detection position where
The measurement unit measures the mounting orientation based on the first fixed position and the first detection position in the first detection unit and the second fixed position and the second detection position in the second detection unit. , A measuring device according to claim 1. The first fixed position is a position where the jig passes through an end of the first predetermined portion of the storage shelf while moving in the predetermined direction with respect to the storage shelf,
The measurement according to claim 2, wherein the second fixed position is a position where the jig passes through an end that is the second predetermined portion of the storage shelf while moving in the predetermined direction with respect to the storage shelf. Device. The measuring device according to claim 2 or 3, wherein the predetermined direction is a direction perpendicular to a line segment connecting the first fixed position and the second fixed position. The measurement according to any one of claims 1 to 4, wherein the moving unit moves the jig in the predetermined direction by a predetermined amount in order to specify the detection position by the detection position specifying unit. Device. The jig is held by a movable chuck provided in the storage, or is attached to the storage in place of the chuck,
The measuring device according to any one of claims 1 to 5, wherein the moving section also serves as a moving device for moving the chuck. Claims 1 to 6, wherein the measuring unit measures, as the mounting posture, a position where the storage shelf exists with respect to the main body in the predetermined direction and an angle of inclination of the storage shelf with respect to the predetermined direction. A measuring device as described in any one of the above. The storage has a storage unit in which the storage shelves are vertically stacked,
The moving unit is capable of moving the jig in an up-down direction,
The detection position specifying unit specifies the detection position for each storage shelf in each layer,
The measuring device according to any one of claims 1 to 7, wherein the measuring unit measures the mounting attitude for each storage shelf in each layer. The storage has a structure in which a plurality of the storage units are arranged in a circumferential direction around a predetermined center,
The moving part is capable of rotating the jig in the circumferential direction,
The detection position specifying unit specifies the detection position for each storage shelf of each storage unit,
The measuring device according to claim 8, wherein the measuring section measures the mounting orientation for each storage shelf of each storage unit. a transfer unit that places the article on the storage shelf or takes out the article from the storage shelf;
A control unit that controls the transfer of the article by the transfer unit based on the mounting attitude measured by the measurement unit of the measurement device according to any one of claims 1 to 9;
A transfer device equipped with A measuring method applied to a storage warehouse comprising a storage shelf having a mounting surface on which an article used for producing a board by a board-to-board working machine is placed, and a main body to which the storage shelf is attached, the method comprising:
A jig having a jig main body movably supported by the main body and a plurality of detection parts each disposed at a prescribed fixed position with respect to a reference position of the jig main body is placed on the storage shelf with respect to the storage shelf. In the process of moving along the placement surface in a predetermined direction different from the direction connecting the detection parts, specifying a detection position where a predetermined part of the storage shelf is detected by each of the detection parts,
A measuring method, comprising measuring the mounting attitude of the storage shelf with respect to the main body based on the fixed position and the detection position of each of the detection units.

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