JP7493168B2 - Component mounting method and component mounting system - Google Patents

Description

The present invention relates to a component mounting method and system that automatically supplies components to a component mounting device.

A component mounting system that mounts components on a board is made up of multiple component mounting devices connected together, and each component mounting device is equipped with multiple component supply devices such as tape feeders. Generally, when a worker who manages the component mounting devices runs out of components stored in the component supply devices while continuing to perform component mounting work, the worker must perform work to replenish or replace the components. Because workers often work on multiple component mounting devices, various measures aimed at reducing the workload are adopted.

For example, a management device that manages component mounting devices is known that has a function of instructing an operator to take out a part from a parts warehouse (parts storage unit) and supply it to the component mounting device when a part that has run out or is likely to run out is found (see, for example, Patent Document 1). In the prior art shown in Patent Document 1, in a substrate-related work system that has multiple work mechanisms that perform substrate-related work, whenever a support task such as a component replacement task becomes necessary, the support task is assigned to one of multiple operators.

Patent No. 4491418

However, in conventional technologies including Patent Document 1, most part replacement work is performed by workers, which poses the problem of needing a large number of workers with the skills to perform part replacement work.

The present invention aims to provide a component mounting method and system that can reduce the amount of work required by workers to replace components.

The component mounting method of the present invention is a component mounting method that moves a tape feeder containing a carrier tape that stores multiple components from a component storage unit that stores the tape feeder to a component mounting device that mounts components on a board via a self-propelled component supply device, reads identification information from a barcode on the outside of a reel that winds and stores the carrier tape, stores the tape feeder in a storage unit that is provided in the self-propelled component supply device and has a first area and a second area located below the first area, runs the self-propelled component supply device, moves the tape feeder to be supplied to the component mounting device by a transfer unit, moves the tape feeder to be supplied from the storage unit to the first holding position in a holding device that is provided in the component mounting device and holds the tape feeder, and has a first holding position and a second holding position located below the first holding position, and the component mounting device mounts the components stored in the reel stored in the supply tape feeder moved to the holding device by the transfer unit on the board.

The component mounting system of the present invention is a component mounting system that moves a tape feeder containing a carrier tape that stores multiple components from a component storage unit, via a self-propelled component supply device, to a component mounting device that mounts components on a board, and includes a reading unit that reads identification information from a barcode on the outside of a reel that winds and stores the carrier tape, and a self-propelled component supply device that stores the tape feeder in a storage unit having a first area and a second area located below the first area, runs the self-propelled component supply device, and moves the tape feeder to be supplied to the component mounting device by a transfer unit. From the storage unit, the tape feeder to be supplied is moved from the first area to the first holding position in a holding device that is provided in the component mounting device and holds the tape feeder, and has a first holding position and a second holding position located below the first holding position, and the component mounting device mounts the components stored in the reel stored in the supply tape feeder moved to the holding device by the transfer unit on the board.

The present invention can reduce the amount of work required by workers to replace parts.

FIG. 1 is a configuration explanatory diagram of a component mounting system according to an embodiment of the present invention; FIG. 1 is a configuration explanatory diagram of a component mounting line provided in a component mounting system according to an embodiment of the present invention; FIG. 1 is a plan view of a component mounting device provided in a component mounting system according to an embodiment of the present invention; FIG. 1 is a partial cross-sectional view of a component mounting device provided in a component mounting system according to an embodiment of the present invention. FIG. 1 is a configuration explanatory diagram of a tape feeder provided in a component mounting system according to an embodiment of the present invention; FIG. 1A is a schematic diagram of a tape cassette provided in a component mounting system according to an embodiment of the present invention with a cover attached; FIG. 1B is a schematic diagram of a tape cassette with the cover removed; 1A, 1B, and 1C are explanatory diagrams illustrating the configuration of a tape pushing mechanism of a tape cassette provided in a component mounting system according to an embodiment of the present invention; 1A and 1B are explanatory diagrams illustrating a process of replacing a tape cassette in a cassette holder provided in a component mounting system according to an embodiment of the present invention; 1A and 1B are explanatory diagrams illustrating a process of replacing a tape cassette in a cassette holder provided in a component mounting system according to an embodiment of the present invention; FIG. 1 is a configuration explanatory diagram of a self-propelled component supply device and a connection unit provided in a component mounting system according to an embodiment of the present invention; FIG. 1 is a configuration explanatory diagram of a self-propelled component supply device provided in a component mounting system according to an embodiment of the present invention; 1A and 1B are explanatory diagrams illustrating a process in which a storage section of a self-propelled component supplying device provided in a component mounting system according to an embodiment of the present invention is connected to a connecting section. FIG. 1 is a diagram illustrating the configuration of a first embodiment of a tape waste recovery means of a self-propelled component supplying device provided in a component mounting system according to an embodiment of the present invention; FIG. 1 is a block diagram showing a configuration of a control system of a component mounting system according to an embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of a control system for a tape feeder provided in a component mounting system according to an embodiment of the present invention; FIG. 2 is a block diagram showing the configuration of a control system for a self-propelled component supply device; 1 is a flowchart of a component supply method in a component mounting system according to an embodiment of the present invention. 1 is a flowchart of a tape cassette replacement method in a component mounting system according to an embodiment of the present invention. 1A and 1B are explanatory diagrams illustrating a process in which a self-propelled component supplying device provided in a component mounting system according to an embodiment of the present invention replaces a tape cassette. 1A and 1B are explanatory diagrams illustrating a process in which a self-propelled component supplying device provided in a component mounting system according to an embodiment of the present invention replaces a tape cassette. FIG. 13 is a schematic diagram of a tape cassette according to a second embodiment of the present invention, the tape cassette having the component mounting system according to the first embodiment being provided with a cover attached thereto; FIG. 14 is a schematic diagram of the tape cassette having the cover removed therefrom; FIG. 2 is a configuration explanatory diagram of a self-propelled component supply device and a cart according to a second embodiment of the component mounting system of the present invention; FIG. 2 is a configuration explanatory diagram of a second embodiment of a self-propelled component supply device provided in a component mounting system according to an embodiment of the present invention; FIG. 13 is a configuration explanatory diagram of a third embodiment of a self-propelled component supply device provided in a component mounting system according to an embodiment of the present invention; FIG. 13 is a configuration explanatory diagram of a self-propelled component supply device and a cart according to a fourth embodiment of the component mounting system of the present invention; FIG. 4 is a configuration explanatory diagram of a self-propelled component supply device according to a fourth embodiment of the component mounting system of the present invention; FIG. 5 is a configuration explanatory diagram of a self-propelled component supply device and a cart according to a fifth embodiment of the component mounting system of the present invention; FIG. 5 is a configuration explanatory diagram of a self-propelled component supply device according to a fifth embodiment of the component mounting system of the present invention;

An embodiment of the present invention will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are illustrative examples and can be modified as appropriate depending on the specifications of the component mounting system, component mounting line, and self-propelled component supply device. In the following, the same reference numerals are used for corresponding elements in all drawings, and duplicated explanations will be omitted. In FIG. 1 and in some parts described later, the X direction (left-right direction in FIG. 1) of the board transport direction and the Y direction (up-down direction in FIG. 1) orthogonal to the board transport direction are shown as two axial directions that are orthogonal to each other in a horizontal plane. In FIG. 4 and in some parts described later, the Z direction (up-down direction in FIG. 4) is shown as the height direction that is orthogonal to the horizontal plane. The Z direction is the up-down direction or orthogonal direction when the component mounting device is installed on a horizontal plane.

First, the configuration of component mounting system 1 will be described with reference to FIG. 1. Component mounting system 1 is configured to connect three component mounting lines L1-L3 and a component storage device S arranged on floor F via a communications network 2, and is managed by a management computer 3. Each component mounting line L1-L3 is configured by linking multiple component mounting-related devices, including a component mounting device, as described below, and has the function of producing mounted boards with components mounted on a board. Note that component mounting system 1 does not need to have three component mounting lines L1, and may have one, two, four or more.

The parts storage device S receives a number of tape cassettes C (see FIG. 6) that contain wound carrier tapes (described later), stores them in an internal storage shelf, and removes a specific tape cassette C from the internal storage shelf according to instructions from the management computer 3. In other words, the parts storage device S is a parts storage section that stores tape cassettes C (storage containers). A used cassette recovery device U and a tape waste disposal section G are arranged on the floor F. In addition, the floor F is also equipped with self-propelled parts supply devices V (four in this case). The self-propelled parts supply devices V have built-in wireless communication units T, and transmit and receive signals and information to and from the management computer 3 via the wireless communication units 3a that the management computer 3 has.

The self-propelled parts supply device V autonomously moves between predetermined positions on the floor F based on instructions from the management computer 3 and information it collects using beacons installed on the floor F (not shown), various sensors (GPS, obstacle sensors, etc.) built into the self-propelled parts supply device V, and cameras. Here, the multiple beacons installed on the floor F, the receiving means installed on each self-propelled parts supply device V for receiving radio waves from each beacon, and the position calculation means (not shown) for calculating the position of the self-propelled parts supply device V from the radio wave information received by the receiving means function as position detection means for detecting the position of the self-propelled parts supply device V on the floor F.

The position detection means may be configured with a GPS provided in each self-propelled component supply device V and a position calculation means (not shown) that calculates the position of the self-propelled component supply device V from the GPS position information. The self-propelled component supply device V also holds multiple supply tape cassettes C taken out from the component storage device S, supplies them to the component mounting devices on the component mounting lines L1 to L3, and collects empty tape cassettes C and returns them to the used cassette collection device U. The self-propelled component supply device V also collects tape waste from the component mounting devices and disposes of it in the tape waste disposal section G.

Next, the detailed configuration of component mounting lines L1 to L3 will be described with reference to Figure 2. Component mounting lines L1 to L3 have the same configuration, and below, component mounting line L1 will be described. Component mounting line L1 is configured by connecting solder printing device M1, print inspection device M2, component mounting device M3 to M6, mounting inspection device M7, and reflow device M8 in series from the upstream side (left side of the page) to the downstream side (right side of the page) in the board transport direction (X direction).

The solder printing device M1, print inspection device M2, component mounting devices M3 to M6, mounting inspection device M7, and reflow device M8 are connected to a management computer 3 via a communication network 2. The solder printing device M1 performs a solder printing operation in which solder is printed on a board B brought in from the upstream side by a solder printing work unit. The print inspection device M2 performs a print inspection operation in which the condition of the solder printed on the board B is inspected by a print inspection work unit that includes a solder inspection camera.

The component mounting devices M3 to M6 perform component mounting work to mount components D on the board B using a component mounting work section. Note that the component mounting line L1 is not limited to a configuration of four component mounting devices M3 to M6, and may have one to three or five or more component mounting devices M3 to M6. The mounting inspection device M7 performs mounting inspection work to inspect the state of the components D mounted on the board B using a mounting inspection work section including a component inspection camera. The reflow device M8 performs a board heating work to heat the board B brought into the device using a board heating section, harden the solder on the board B, and bond the electrodes of the board B to the components D.

Next, the configuration of component mounting devices M3 to M6 will be described with reference to Figures 3 and 4. Component mounting devices M3 to M6 have the same configuration, and here, component mounting device M3 will be described. Figure 4 partially shows the cross section A-A in Figure 3. Component mounting device M3 has the function of mounting component D on board B.

In FIG. 3, a board transport mechanism 5 is disposed in the X direction at the center of the base 4. The board transport mechanism 5 transports the board B carried in from the upstream side, and positions and holds it in a position for performing component mounting work. Component supply units 6 are disposed on both sides of the board transport mechanism 5. In each component supply unit 6, multiple tape feeders 7 are disposed in parallel in the X direction. The tape feeders 7 feed the carrier tape containing the components D at a pitch in the tape feed direction, thereby supplying the components D to a component removal position by the mounting head of the component mounting mechanism described below. In other words, the tape feeder 7 is a component supply device that is mounted on the component mounting device M3 and supplies the components D.

A Y-axis beam 8 equipped with a linear drive mechanism is arranged along the Y direction at one end of the upper surface of the base 4 in the X direction. Two X-axis beams 9 similarly equipped with linear drive mechanisms are connected to the Y-axis beam 8 so as to be freely movable in the Y direction. The X-axis beams 9 are arranged along the X direction. A mounting head 10 is attached to each of the two X-axis beams 9 so as to be freely movable in the X direction. As shown in FIG. 4, the mounting head 10 is equipped with a plurality of suction units 10a that can suction and hold components D and move up and down. A suction nozzle 10b is provided at the tip of each of the suction units 10a.

In FIG. 3, the Y-axis beam 8 and the X-axis beam 9 are driven to move the mounting head 10 in the X and Y directions. As a result, the two mounting heads 10 use the suction nozzles 10b to pick up and remove component D from the component removal positions of the tape feeders 7 arranged in the corresponding component supply units 6, and mount it at a mounting point on the board B positioned by the board transport mechanism 5. The Y-axis beam 8, the X-axis beam 9, and the mounting heads 10 constitute a component mounting mechanism that mounts component D on the board B by moving the mounting heads 10 holding component D.

A component recognition camera 11 is disposed between the component supply unit 6 and the board transport mechanism 5. When the mounting head 10, which has taken out a component from the component supply unit 6, moves above the component recognition camera 11, the component recognition camera 11 captures an image of the component D held by the mounting head 10 and recognizes the holding posture of the component D. A board recognition camera 12 is attached to the plate 9a to which the mounting head 10 is attached. The board recognition camera 12 moves integrally with the mounting head 10.

As the mounting head 10 moves, the board recognition camera 12 moves above the board B positioned by the board transport mechanism 5, and captures an image of a board mark (not shown) on the board B to recognize the position of the board B. When the mounting head 10 mounts components on the board B, the mounting position is corrected taking into account the recognition results of the component D by the component recognition camera 11 and the recognition results of the board position by the board recognition camera 12.

In FIG. 4, the component supply unit 6 is composed of a dolly 13 on which a plurality of tape feeders 7 are pre-mounted on a feeder base 13a. The dolly 13 is configured to be freely attached and detached to the base 4. The dolly 13 is equipped with a cassette holder 15 capable of holding a plurality of tape cassettes C that store a carrier tape 14 in a wound state. The cassette holder 15 has a plurality of upper holding positions Hu and a plurality of lower holding positions Hd for holding the tape cassettes C. In other words, the cassette holder 15 is a storage container holding device that holds the tape cassettes C (storage containers). The carrier tape 14 pulled out from the tape cassette C held by the cassette holder 15 is attached to the tape feeder 7.

In this way, component mounting device M3 is equipped with a cassette holder 15 (storage container holding device) that holds a tape cassette C (storage container). In component mounting device M3, the board transport mechanism 5, component supply unit 6, component mounting mechanism (Y-axis beam 8, X-axis beam 9, mounting head 10), component recognition camera 11, and board recognition camera 12 constitute a component mounting work unit 16 (see Figure 14) that mounts components D supplied by tape feeder 7 onto the transported board B.

The configuration and function of tape feeder 7 will now be described with reference to FIG. 5. Tape feeder 7 (component supplying device) has the function of transporting carrier tape 14, which contains components D and is covered with cover tape, to a component removal position, peeling off the cover tape just before the component removal position, and supplying the contained components D to component mounting devices M3 to M6. The tape feeder 7 (component supplying device) shown in this embodiment is a so-called autoload feeder that can automatically load carrier tape 14 (component D) into tape feeder 7 by inserting the leading end of carrier tape 14 into a tape insertion port.

The autoload feeder can also replenish components by inserting a trailing carrier tape 14 (hereafter abbreviated as "trailing tape 14(2)") into the tape insertion port while a leading carrier tape 14 (hereafter abbreviated as "leading tape 14(1)") already attached to the tape feeder 7 is supplying components D.

In FIG. 5, the tape feeder 7 is configured to include a main body 7a and a mounting portion 7b that protrudes downward from the bottom surface of the main body 7a. When the tape feeder 7 is mounted with the bottom surface of the main body 7a aligned with the feeder base 13a, the tape feeder 7 is fixedly mounted to the component supply unit 6, and the feeder control unit 21 built in to control the tape feed in the tape feeder 7 is electrically connected to the mounting control unit 22 of the component mounting devices M3 to M6.

Inside the main body 7a, a tape transport path 7c is provided to guide the carrier tape 14 that has been pulled out from the tape cassette C and taken into the main body 7a. The tape transport path 7c is provided to connect from a tape insertion port 7d, which opens at the upstream end of the main body 7a in the tape feed direction and into which the carrier tape 14 is inserted, to a tape discharge port 7e, which opens downstream from the component removal position where the mounting head 10 removes components.

A shutter mechanism 23 is disposed downstream of the tape insertion port 7d. The shutter mechanism 23 has a function of allowing or prohibiting the carrier tape 14 inserted from the tape insertion port 7d from entering the downstream tape transport path 7c by moving the shutter 23a of the shutter mechanism 23 up and down. The up and down movement of the shutter 23a is controlled by the feeder control unit 21. In this way, the tape insertion port 7d of the tape feeder 7 is provided with the shutter 23a that allows or prohibits the insertion of the carrier tape 14.

In FIG. 5, a first tape feed mechanism 24A and a second tape feed mechanism 24B for feeding the leading tape 14(1) and the trailing tape 14(2) are disposed on the upstream and downstream sides of the tape transport path 7c. The first tape feed mechanism 24A disposed on the upstream side has the function of continuously feeding the newly loaded trailing tape 14(2) from the tape insertion port 7d side to the second tape feed mechanism 24B side. The first tape feed mechanism 24A is configured to rotate a sprocket 25A by a motor 26A. The rotational drive of the motor 26A is controlled by the feeder control unit 21.

A biasing mechanism 27 is disposed below the sprocket 25A of the first tape feed mechanism 24A. The biasing mechanism 27 has the function of biasing the trailing tape 14(2) inserted from the tape insertion port 7d against the sprocket 25A, and splicing the feed hole 14a (see FIG. 7(a)) of the carrier tape 14 to the sprocket 25A. An insertion detection sensor Q is disposed downstream of the sprocket 25A to detect the leading end of the trailing tape 14(2) inserted from the tape insertion port 7d and engaged with the sprocket 25A.

The detection result by the insertion detection sensor Q is transmitted to the feeder control unit 21. In other words, the insertion detection sensor Q is a tape insertion detection unit that detects whether the succeeding tape 14 (2) (carrier tape 14) has been properly inserted. In addition, as a method of detecting whether the carrier tape 14 has been properly inserted, the rotation of the sprocket 25A that rotates when the tape is inserted may be detected.

In FIG. 5, the second tape feed mechanism 24B provided downstream has the function of pitch-feeding the leading tape 14(1) at a predetermined feed pitch to a component removal position where the mounting head 10 removes components D. The second tape feed mechanism 24B is configured to rotate a sprocket 25B using a motor 26B. The rotational drive of the motor 26B is controlled by the feeder control unit 21. A pressing member 28 is attached above the second tape feed mechanism 24B and has the function of pressing the leading tape 14(1) from above and peeling off the cover tape to expose the components D stored in the leading tape 14(1).

The component D that has been pitch-fed to the component removal position 28a is picked up by vacuum suction with the suction nozzle 10b of the mounting head 10 through a component removal opening formed in the pressing member 28. In this way, the first tape feed mechanism 24A and the second tape feed mechanism 24B serve as a tape feed mechanism 24 (see FIG. 15) that transports the carrier tape 14 (leading tape 14(1), trailing tape (2)) and transports the stored component D to the component removal position 28a.

In FIG. 5, an operation/display panel 29 connected to the feeder control unit 21 is disposed on the upper surface of the upstream side of the tape feeder 7. The operation/display panel 29 is provided with various operation buttons, such as operation buttons for operating the tape feed operation by the first tape feed mechanism 24A and the second tape feed mechanism 24B, and an operation button for opening and closing the shutter in the shutter mechanism 23. The operation/display panel 29 is further provided with a display panel such as an LED or LCD display. In this way, the tape feeder 7 (component supply device) is an autoload feeder, and is provided with a tape insertion port 7d into which the tip of the carrier tape 14 to be supplied is inserted.

Next, the configuration and function of the tape cassette C will be described with reference to Figures 6 and 7. Figure 6(a) shows the tape cassette C with the cover 30 attached, and Figure 6(b) shows the tape cassette C with the cover 30 removed. In Figure 6(b), the carrier tape 14 is wound around the core 31, which holds a plurality of components D. The core 31 around which the carrier tape 14 is wound is rotatably mounted on the core holding portion 32 of the tape cassette C. A tape extrusion mechanism 33 is disposed above the tape cassette C. The tape extrusion mechanism 33 includes an upper extrusion mechanism 33a and a lower extrusion mechanism 33b. A tape guide path 33c is formed between the upper extrusion mechanism 33a and the lower extrusion mechanism 33b to guide the extruded carrier tape 14.

The carrier tape 14 wound around the core 31 is taken out from the outlet 34 through the tape guide path 33c of the tape pushing mechanism 33. The tape cassette C has a gripping portion 35 disposed in a position accessible from the opposite side of the outlet 34. The gripping portion 35 is gripped by the self-propelled component supplying device V when the tape cassette C is supplied to the cassette holder 15 or when it is removed from the cassette holder 15. The tape cassette C also has an RFID 36 disposed in a position accessible from the opposite side of the outlet 34, which wirelessly transmits and receives identification information N of the tape cassette C. In this way, the tape cassette C becomes a storage container for storing multiple components D.

7(a), the main body 37 of the upper pushing mechanism 33a is provided with a substantially L-shaped pushing member 38 that slides back and forth along the tape guide path 33c along a guide 37a formed on the main body 37. The main body 37 is also provided with an insertion hole 37b through which a pushing rod 39 slides when inserted from the opposite side of the outlet 34. One end of the pushing rod 39 inserted through the insertion hole 37b is attached to a surface 38a located on the opposite side of the outlet 34 of the pushing member 38. As a result, the pushing rod 39 and the pushing member 38 move back and forth together along the tape guide path 33c (arrows b1 and b2). Also, one end of a spring 40, which is an elastic body that biases the pushing member 38 in the opposite direction to the outlet 34, is attached to the same surface 38a. The opposite end of the spring 40 is connected to the main body 37.

Two teeth 38c protruding into the tape guide path 33c are formed on the side of the bottom surface 38b of the pushing member 38 facing the tape guide path 33c, closer to the removal opening 34. The distance between the two teeth 38c is the same as the distance between the feed holes 14a of the carrier tape 14, and the two teeth 38c each engage with the feed holes 14a of the carrier tape 14 inserted into the tape guide path 33c. The bottom surfaces of the two teeth 38c each have an incline that cuts upwards on the opposite side of the removal opening 34. In addition, the two teeth 38c side of the pushing member 38 can swing up and down (arrow b3).

The pushing member 38 can push the carrier tape 14 to the outside from the ejection opening 34 by moving to the ejection opening 34 with the two teeth 38c engaged with the feed hole 14a. On the other hand, when the pushing member 38 returns to the opposite side of the ejection opening 34, the pushing member 38 rocks up and down with the inclination of the lower surface of the two teeth 38c aligned with the feed hole 14a, disengaging the two teeth 38c from the feed hole 14a. In this way, the pushing rod 39 and the pushing member 38 become a carrier tape pushing member with one end engaging with the stored carrier tape 14 and the other end protruding outside the tape cassette C (storage container).

In FIG. 7(a), a generally L-shaped swinging member 42 is disposed in a space 41a formed in the main body 41 of the lower push-out mechanism 33b. A swinging shaft 43 attached to the main body 41 is connected to the side of the swinging member 42 opposite the outlet 34. The swinging member 42 swings up and down (arrow b4) on the outlet 34 side around the swinging shaft 43. A spring 44, which is an elastic body that biases the swinging member 42 upward, is disposed below the outlet 34 side of the swinging member 42. The upward swinging of the swinging member 42 is restricted by a restricting surface 41b formed in the space 41a of the main body 41.

On the side of the upper surface of the swinging member 42 facing the tape guide path 33c, close to the removal opening 34, two teeth 42b are formed that protrude into the tape guide path 33c when the upward swing is restricted by the restricting surface 41b. The distance between the two teeth 42b is the same as the distance between the feed holes 14a of the carrier tape 14. The two teeth 42b each engage with the feed holes 14a of the carrier tape 14 inserted into the tape guide path 33c. The upper surfaces of the two teeth 42b each have an incline that cuts down to the opposite side of the removal opening 34.

When the carrier tape 14 is pushed out toward the take-out opening 34 with the two teeth 42b engaged with the feed hole 14a, the swinging member 42 swings up and down with the inclination of the upper surface of the two teeth 42b following the feed hole 14a, and the engagement between the two teeth 42b and the feed hole 14a is released. As a result, the carrier tape 14 being pushed out is not hindered from moving outward by the swinging member 42. On the other hand, when the carrier tape 14 tries to move in the opposite direction (inward) from the take-out opening 34, the swinging member 42 engages the two teeth 42b with the feed hole 14a to suppress the movement of the carrier tape 14.

Next, the extrusion process of the carrier tape 14 in the tape cassette C will be described with reference to Figures 7(a) to (c). In Figure 7(a), the carrier tape 14 stored in the tape cassette C has a feed hole 14a that engages with two teeth 38c of the extrusion member 38 and two teeth 42b of the swinging member 42, and the tip 14b of the carrier tape 14 is outside the removal opening 34. The extrusion member 38 is located on the side farther from the removal opening 34.

In this state, in FIG. 7(b), when the push rod 39 is pushed inward from the outside by an external force (arrow c1), the push member 38 is pushed and moves in the direction of the take-out opening 34 with the two teeth 38c engaged with the feed hole 14a of the carrier tape 14 (arrow c2). Accordingly, the carrier tape 14 moves in the direction of the take-out opening 34. At that time, the swing member 42 swings up and down (arrow c3), and the two teeth 42b disengage from the feed hole 14a, so that the movement of the carrier tape 14 is not hindered. In this way, the carrier tape 14 is pushed outward from the take-out opening 34 (arrow c4).

In FIG. 7(c), the force pushing the push rod 39 inward is removed. Therefore, the spring 40 of the upper push mechanism 33a pulls the push member 38 back to the opposite side of the removal opening 34. At this time, the carrier tape 14 is prevented from moving by the swing member 42, whose two teeth 42b engage with the feed hole 14a. Therefore, the push member 38 moves to the opposite side of the removal opening 34 (arrow d2) while swinging up and down (arrow d1) so that the two teeth 38c are disengaged from the feed hole 14a. Then, the push rod 39 is pushed back to the opposite side of the removal opening 34 by the push member 38 (arrow d3).

When pushing out the carrier tape 14 from the tape cassette C, the pushing process shown in FIG. 7(b) and the return process shown in FIG. 7(c) are repeated until the desired length is pushed out. When the carrier tape 14 is fed outward from the outlet 34 by the tape feeder 7, the pushing member 38 and the swinging member 42 swing up and down (arrows b3 and b4) in the state shown in FIG. 7(a). As a result, the two teeth 38c of the pushing member 38 and the two teeth 42b of the swinging member 42 disengage from the feed hole 14a, and the movement of the carrier tape 14 toward the tape feeder 7 is not impeded.

By using such a tape cassette C, the leading end 14b of the carrier tape 14 can be fed in a predetermined direction with high precision, and the leading end 14b of the carrier tape 14 can be inserted into the tape feeder 7. In addition, since the carrier tape 14 can be fed by an external force, the tape can be fed without providing a drive source to the tape cassette C, allowing the device to be made compact.

Next, referring to Figures 8 and 9, a method for replacing (replenishing) the tape cassette C in the cassette holder 15 will be described. For convenience, Figures 8 and 9 show simplified structures of the dolly 13 and the cassette holder 15. As shown in Figure 8(a), the cassette holder 15 is provided with a lower holding position Hd for holding a tape cassette C(1) that winds and stores the leading tape 14(1). The cassette holder 15 also has an upper holding position Hu above the lower holding position Hd for holding a tape cassette C(2) that winds and stores the following tape 14(2).

That is, the cassette holder 15 (container holding device) has an upper holding position Hu (first holding position) that holds the tape cassette C (2) (container) and a lower holding position Hd (second holding position) that holds the tape cassette C (1) (container) that was loaded before the tape cassette C (2) (container) held in the upper holding position Hu (first holding position). Also, a groove 15a that guides the tape cassette C is formed on the inner wall of the cassette holder 15. For convenience, the groove 15a is simplified and represented by a dashed line in Figures 8 and 9. The tape cassette C loaded into the cassette holder 15 moves downward by gravity along the groove 15a on the inner wall.

In FIG. 8(a), leading tape 14(1) and trailing tape 14(2) are inserted into tape insertion port 7d of tape feeder 7. In tape feeder 7, components D stored on leading tape 14(1) are supplied to component removal position 28a. In the process of continuing component mounting work, when components D on leading tape 14(1) are consumed, components D stored on trailing tape 14(2) are successively supplied to component removal position 28a.

In FIG. 8(b), the leading tape cassette C(1), which has been emptied of all its components D, is pulled out horizontally (arrow e1) from the lower holding position Hd of the cassette holder 15 and collected by the collection head 60 (see FIG. 10) of the self-propelled component supply device V (described later) (leading cassette collection process). After that, the trailing tape cassette C(2) moves (arrow e2) along the groove 15a from the upper holding position Hu to the now-empty lower holding position Hd (trailing cassette movement process).

That is, when the tape cassette C(1) (storage container) held in the lower holding position Hd (second holding position) is removed, the tape cassette C(2) (storage container) held in the upper holding position Hu (first holding position) moves to the lower holding position Hd (second holding position). In this way, the tape cassette C in the upper holding position Hu moves to the lower holding position Hd by gravity, so the position of the tape cassette C can be changed simply by pulling it out.

In FIG. 9(a), the tape cassette C(3) to be replenished is then positioned at replenishment position Hs of the cassette holder 15 behind the tape feeder 7, with the tip 14b of the carrier tape 14(3) protruding from the removal opening 34 of the tape cassette C(3) positioned behind the tape insertion opening 7d of the tape feeder 7 (arrow f1) (replenishment cassette placement process). Here, the tape cassette C(3) is held at replenishment position Hs by the gripping device 57b (see FIG. 10) of the self-propelled component supply device V, which will be described later.

Next, while the tape cassette C(3) is being held, the push rod 39 is pushed into the tape cassette C(3) (arrow f2), and while pushing out the carrier tape 14(3) (arrow f3), the tip 14b of the carrier tape 14(3) is inserted into the tape feeder 7 through the tape insertion opening 7d (supply tape insertion process). Here, the push rod 39 is pushed in by a tape insertion means 57a (see FIG. 10) provided in the self-propelled component supply device V, which will be described later. Note that the means for pushing in the push rod 39 is not limited to this, and may be provided in the component mounting devices M3 to M6, or may be pushed in by a means provided in a device other than the self-propelled component supply device V and the component mounting devices M3 to M6.

The means for holding the tape cassette C at the supply position Hs may be provided in the cassette holder 15. The carrier tape 14 is pushed out by the pushing mechanism 33 of the tape cassette C at least to a position where the tape can be fed by the first tape feed mechanism 24A of the tape feeder 7. Here, the carrier tape 14 can be positioned at the above position by repeatedly pushing out the carrier tape 14 by the pushing mechanism 33 until the insertion detection sensor Q of the tape feeder 7 detects the leading end 14b of the carrier tape 14.

In FIG. 9(b), when the loading of the carrier tape 14(3) contained in the replenished tape cassette C(3) into the tape feeder 7 is completed, the tape cassette C(3) is released from its hold. This causes the tape cassette C(3) to move along the groove 15a (arrow g1) from the replenishment position Hs to the upper holding position Hu (replenishment cassette movement process). In this way, the emptied tape cassette C(1) is collected from the component mounting devices M3 to M6, and the replenished tape cassette C(3) is replenished.

As shown in FIG. 9(b), in the process of the tape cassette C(3) moving from the supply position Hs to the upper holding position Hu, the cassette holder 15 of this embodiment rotates the tape cassette C(3) 45 degrees around the horizontal direction (the X direction in this embodiment) as the axis of rotation so that the removal opening 34 of the tape cassette C(3) faces diagonally upward. Then, in the lower holding position Hd, the cassette holder 15 holds the tape cassette C(2) so that the removal opening 34 maintains an angle that faces diagonally upward.

The supply position Hs and the upper holding position Hu are located in a non-overlapping positional relationship when viewed in the YZ plane from the X direction. This is so that another tape cassette C located at the upper holding position Hu does not interfere with the operation of aligning the tape cassette C to the tape feeder 7 by the supply head 57 (see FIG. 10), which will be described later.

Furthermore, the removal opening 34 of the tape cassette C(2) at the lower holding position Hd is set to be closer to the tape feeder 7 in the horizontal direction (Y direction in this embodiment) than the removal opening 34 of the tape cassette C(3) at the upper holding position Hu. This allows the carrier tape 14(2) supplied by the tape cassette C(2) at the lower holding position Hd and the carrier tape 14(3) supplied by the tape cassette C(3) at the upper holding position Hu to be supplied to the tape insertion opening 7d of the tape feeder 7 without interference between them.

Next, the configuration of the self-propelled part supply device V and the trolley 13 will be described with reference to Figures 10 and 11. In Figure 10, the self-propelled part supply device V is constructed by stacking a trolley section 50, a support section 51, and a storage section 52 from the bottom. The trolley section 50 is equipped with wheels 53, a motor for driving the wheels 53, a direction changing mechanism for the wheels 53, a sensor for detecting the position and attitude of the self-propelled part supply device V, a traveling mechanism 54 (see Figure 15) including a camera (not shown). The trolley section 50 also includes a supply control section 55 (see Figure 15) for controlling the traveling mechanism 54, a wireless communication section T for wirelessly communicating with the management computer 3, and a battery (not shown).

The travel control unit 55a (see FIG. 15) of the supply control unit 55 controls the travel mechanism 54 to move the self-propelled component supply device V based on instructions from the management computer 3 and information collected by the self-propelled component supply device V. The wheels 53 of the cart unit 50 can freely change direction, allowing the self-propelled component supply device V to move freely in the horizontal direction without changing its posture. In other words, the self-propelled component supply device V can move in both the X and Y directions while maintaining a posture parallel to the component mounting devices M3 to M6 shown in FIG. 10.

The traveling mechanism 54 is also equipped with an electromagnetic brake (not shown), and can remain stopped at a predetermined position with the electromagnetic brake applied. In this way, the traveling mechanism 54 and the traveling control unit 55a are equipped with the support unit 51 at the top and function as a traveling means that moves or stops automatically.

The support section 51 has its lower portion fixed to the cart section 50 and its upper portion fixed to the storage section 52, supporting the storage section 52 from below. The upper portion of the support section 51 is configured to be slidable relative to the lower portion in the horizontal direction (X direction, Y direction) and the vertical direction (Z direction). As a result, when an external force is applied to the storage section 52, the storage section 52 moves horizontally and vertically relative to the cart section 50.

In addition, the support section 51 is biased by an elastic body (not shown) such as a spring so as to return the storage section 52 to a predetermined central position when no external force is applied. The support section 51 also has a built-in locking mechanism (not shown) that fixes the position of the storage section 52 relative to the cart section 50 when the storage section 52 is in the predetermined central position. The self-propelled part supply device V moves (travels) with the storage section 52 fixed in the predetermined central position. In this way, the support section 51 supports the storage section 52 (storage container storage section) from below so that it can move freely in both horizontal and vertical directions.

In FIG. 10, the storage section 52 is composed of an upper supply cassette storage section 52a and a lower return cassette storage section 52b. The supply cassette storage section 52a stores multiple tape cassettes C to be supplied to the component mounting devices M3 to M6. The return cassette storage section 52b stores multiple tape cassettes C returned from the component mounting devices M3 to M6. In other words, the storage section 52 is a storage container storage section having a supply cassette storage section 52a (first area) that stores the tape cassettes C (storage containers) to be supplied, and a return cassette storage section 52b (second area) that stores the used tape cassettes C (storage containers).

In FIG. 10, an X-axis beam 56x is disposed on the ceiling of the supply cassette storage section 52a along the X direction (the direction of travel of the self-propelled part supply device V). An X-axis slider 56a driven by an X-axis linear drive mechanism is provided on the X-axis beam 56x so as to be movable in the X direction along the X-axis beam 56x (arrow j1 in FIG. 11). The X-axis beam 56x, the X-axis slider 56a, and the X-axis linear drive mechanism constitute an X-axis movement mechanism.

Below the X-axis slider 56a, a Y-axis beam 56y is disposed along the Y direction (a direction perpendicular to the traveling direction of the self-propelled part supply device V). A Y-axis slider 56b driven by a linear drive mechanism is provided on the Y-axis beam 56y so as to be movable in the Y direction (arrow h1) along the Y-axis beam 56y. The Y-axis beam 56y, the Y-axis slider 56b, and the Y-axis linear drive mechanism constitute a Y-axis movement mechanism. A supply head 57 is attached to the Y-axis slider 56b. The supply head 57 is equipped with a tape insertion means 57a, a gripping device 57b, and an RF reader R.

The gripping device 57b grips the gripping portion 35 of the tape cassette C to be replenished, which is stored in the supply cassette storage section 52a. The tape insertion means 57a is composed of an electromagnetic piston and a rod. When the supply head 57 grips the tape cassette C, the tape insertion means 57a protrudes the rod, thereby pushing the push rod 39 of the tape cassette C into the inside of the tape cassette C, and the carrier tape 14 can be pushed out from the removal opening 34. In this way, the X-axis movement mechanism, the Y-axis movement mechanism, and the supply head 57 form a cassette supply mechanism 58 (see FIG. 15) that grips the tape cassette C to be replenished, which is stored in a predetermined position, takes it out from the supply cassette storage section 52a, moves it in the X-direction and the Y-direction outside the supply cassette storage section 52a, and pushes out the carrier tape 14 from the tape cassette C.

The RF reader R reads the identification information N from the RFID 36 arranged on the tape cassette C. By moving the supply head 57 in the X direction while keeping it a predetermined distance away from the stored tape cassette C, the RF reader R can read the identification information N of the tape cassette C stored in the supply cassette storage section 52a all at once. In this way, the self-propelled component supply device V has an RF reader R (information reading unit) that reads the identification information N attached to the tape cassette C (storage container) provided in the supply cassette storage section 52a (first area).

In FIG. 10, an X-axis beam 59x is disposed on the ceiling of the recovery cassette storage section 52b along the X direction (the direction of travel of the self-propelled part supply device V). An X-axis slider 59a driven by an X-axis linear drive mechanism is provided on the X-axis beam 59x so as to be movable in the X direction along the X-axis beam 59x (arrow j2 in FIG. 11). The X-axis beam 59x, the X-axis slider 59a, and the X-axis linear drive mechanism constitute an X-axis movement mechanism.

Below the X-axis slider 59a, a Y-axis beam 59y is disposed along the Y direction (a direction perpendicular to the traveling direction of the self-propelled part supply device V). A Y-axis slider 59b driven by a linear drive mechanism is provided on the Y-axis beam 59y so as to be movable in the Y direction (arrow h2) along the Y-axis beam 59y. The Y-axis beam 59y, Y-axis slider 59b, and Y-axis linear drive mechanism constitute a Y-axis movement mechanism. A recovery head 60 is attached to the Y-axis slider 59b.

The recovery head 60 is equipped with a gripping device 60a. The gripping device 60a grips the gripping portion 35 of the tape cassette C to be collected that is held in the lower holding position Hd of the cassette holder 15 of the component mounting devices M3 to M6. The recovery head 60 then pulls the gripped tape cassette C to a predetermined position in the recovery cassette storage section 52b, and then releases the grip to store the tape cassette C to be collected. In this way, the X-axis movement mechanism, the Y-axis movement mechanism, and the recovery head 60 move in the X and Y directions outside the recovery cassette storage section 52b to form a cassette recovery mechanism 61 (see FIG. 15) that grips the tape cassette C to be collected and stores it in a predetermined position in the recovery cassette storage section 52b.

In FIG. 11, the side of the storage section 52 where the tape cassette C is removed from the supply cassette storage section 52a and where the tape cassette C is retrieved into the retrieval cassette storage section 52b has its outer wall removed to prevent interference when inserting and removing the tape cassette C. When the self-propelled component resupply device V supplies and retrieves tape cassettes C from component mounting devices M3 to M6, it automatically aligns itself while traveling so that the surface where the tape cassette C is inserted and removed is parallel to the component supply section 6.

In FIG. 10, a connecting roller 62a and a connecting hook 62b are provided on the outer walls of the storage section 52 in the X direction (see also FIG. 11). The connecting roller 62a and the connecting hook 62b are provided at a predetermined distance in the Y direction. In addition, a connecting portion 63 is provided on the front side of the cassette holder 15 of the cart 13 on which the multiple tape feeders 7 are mounted (on the opposite side of the cassette holder 15 from the tape feeders 7). The connecting portion 63 is fixedly provided on the cart 13. A pair of guide portions 64 are provided on both ends of the connecting portion 63 in the X direction.

The guide sections 64 each include a positioning block 65 and a connecting mechanism 66. The positioning block 65 abuts the connecting roller 62a of the storage section 52 when connecting the storage section 52 of the self-propelled part supply device V to the connecting section 63, thereby positioning the storage section 52 in the Z direction. The connecting mechanism 66 includes a substantially L-shaped connecting member 66a and an air cylinder 66b that lifts the connecting member 66a diagonally upward. The connecting mechanism 66 also includes a built-in sensor (not shown) that detects that the connecting hook 62b of the storage section 52 abuts against the connecting member 66a when connecting the storage section 52 of the self-propelled part supply device V to the connecting section 63.

Next, referring to FIG. 12, a method for connecting the storage section 52 of the self-propelled component supply device V to the connecting section 63 will be described. In FIG. 12(a), the self-propelled component supply device V travels parallel to the cart 13 of the component mounting device M3 to M6, approaches it, and pauses at a position in the X direction where the storage section 52 fits between the pair of guide sections 64 of the connecting section 63. The self-propelled component supply device V then releases the locking mechanism of the support section 51. The self-propelled component supply device V then moves in the Y direction at a low speed while maintaining its position parallel to the cart 13 (arrow k1). When the self-propelled component supply device V reaches a stop position where the connecting hook 62b of the storage section 52 abuts against the connecting member 66a, it stops moving and activates the electromagnetic brake of the traveling mechanism 54.

In FIG. 12(b), the connecting mechanism 66 then lifts the connecting member 66a connected to the connecting hook 62b diagonally upward (arrow k2). As a result, the storage section 52 is transferred to the dolly 13 via the connecting section 63 (arrow k3), and the storage section 52 is now in a state where it can replenish and retrieve the tape cassette C (replacement preparation work is completed).

As described above, the self-propelled component supply device V has the function of automatically moving while holding a tape cassette C (storage container) that stores multiple components D, and supplying the components D in the tape cassette C to a tape feeder 7 (component supply device). More specifically, the self-propelled component supply device V includes a storage section 52 (storage container storage section) that stores the tape cassette C, and a cassette supply mechanism 58 and a cassette recovery mechanism 61 (storage container transfer section) that move the tape cassette C between the storage section 52 and the cassette holder 15 (storage container holding device).

The component mounting devices M3 to M6 also have a connecting section 63 that connects to and holds the storage section 52. When the storage container transfer section moves the tape cassette C between the storage section 52 and the cassette holder 15, the travel means (travel mechanism 54, travel control section 55a) stops the self-propelled component supply device V at a predetermined stop position relative to the component mounting devices M3 to M6, and the connecting section 63 connects to the storage section 52 and holds the storage section 52.

Next, referring to FIG. 13, the collection of tape scraps W obtained by cutting the used carrier tape 14 that has been discharged from the tape outlet 7e after supplying the components D in the tape feeder 7 will be described. First, referring to FIG. 13(a), a first embodiment for collecting tape scraps W will be described. The tape scraps W that have been discharged from the tape outlet 7e and cut to an appropriate length are stored in a collection container 70 fixed to the cart 13. The self-propelled component supply device V includes a suction device 71 that vacuum-sucks the tape scraps W from the collection container 70, a nozzle unit 72 whose tip position can be moved and that vacuum-sucks the tape scraps W from the tip, and a storage box 73 that stores the vacuum-sucked tape scraps W.

When a predetermined amount of tape scraps W accumulates in the collection container 70, the tip of the nozzle portion 72 moves into the collection container 70 in time with the self-propelled component supply device V replenishing the tape cassette C, and the suction device 71 sucks up the tape scraps W and collects them in a storage box 73. In this way, the suction device 71 and the nozzle portion 72 form a scrap collection mechanism 74A (see FIG. 15) that collects the tape scraps W from the component mounting devices M3 to M6. In other words, the self-propelled component supply device V is equipped with a scrap collection mechanism 74A (tape scrap collection means) that collects the tape scraps W after components are supplied, and the tape scrap collection means is equipped with a suction device 71 that sucks up the tape scraps W. This allows the tape scraps W to be collected automatically without the help of an operator.

Next, referring to FIG. 13(b), a second embodiment for collecting tape scraps W will be described. This embodiment differs from the first embodiment in that the tape scraps W are collected in a movable tape scraps collection box 76. During component mounting work, the tape scraps collection box 76 is placed in a predetermined position on the dolly 13. The self-propelled component supply device V includes a storage box moving device 77 such as an articulated robot having a gripper 77a for gripping the tape scraps collection box 76, and a storage box storage unit 78 for collecting the tape scraps collection box 76.

When a predetermined amount of tape scraps W accumulates in the tape scraps storage box 76, the storage box moving device 77 collects the tape scraps storage box 76 into the storage box storage section 78 (arrow m1) in time with the self-propelled component supply device V replenishing the tape cassette C. Then, an empty tape scraps storage box 76 that has been stored in the storage box storage section 78 beforehand is placed in a predetermined position on the trolley 13. In this way, the tape scraps storage box 76, storage box moving device 77, and storage box storage section 78 form a scraps collection mechanism 74B (see Figure 15) that collects tape scraps W from the component mounting devices M3 to M6.

That is, the self-propelled component supply device V is equipped with a waste tape collection mechanism 74B (tape waste collection means) that collects the waste tape W after components are supplied, and the waste tape collection means is equipped with a storage box moving device 77 (collection device) that collects the waste tape collection box 76 in which the waste tape W accumulates, to the self-propelled component supply device V. This allows the tape waste W to be collected in a short time. The collection device that collects the waste tape collection box 76 to the self-propelled component supply device V is not limited to an articulated robot. The collection device may be capable of exchanging the waste tape collection box 76 between the cart 13 of the component mounting devices M3 to M6 and the self-propelled component supply device V. The collection device may also be disposed on the component mounting devices M3 to M6 (cart 13) instead of on the self-propelled component supply device V.

Next, the configuration of the control system of component mounting system 1 will be described with reference to Figures 14 and 15. Component mounting lines L1 to L3 equipped in component mounting system 1 have the same configuration, and component mounting line L1 will be described below. Component mounting devices M3 to M6 equipped in component mounting line L1 have the same configuration, and component mounting device M3 will be described below.

In FIG. 14, component mounting device M3 includes a mounting control unit 22, a mounting memory unit 80, a tape feeder 7, a component mounting work unit 16, a connection mechanism 66, and a communication unit 81. The communication unit 81 is a communication interface, and transmits and receives signals and data between other component mounting devices M4 to M6, other component mounting lines L2 and L3, the management computer 3, and the component storage device S via the communication network 2. The mounting control unit 22 controls the tape feeder 7 and the component mounting work unit 16 based on the component mounting data stored in the mounting memory unit 80, thereby causing component mounting device M3 to perform component mounting work.

The mounting control unit 22 also communicates with and works in conjunction with the self-propelled component supply device V via the management computer 3, and controls the connection mechanism 66 to perform a connection operation to connect the connection unit 63 to the storage unit 52 of the self-propelled component supply device V. The mounting control unit 22 also sequentially transmits the mounting status, including the number of components D consumed (remaining) by the component mounting device M3, to the management computer 3.

In FIG. 14, the management computer 3 includes a management control unit 82, a management memory unit 83, an input unit 84, a display unit 85, a communication unit 86, and a wireless communication unit 3a. The input unit 84 is an input device such as a keyboard, touch panel, or mouse, and is used when inputting operation commands and data. The display unit 85 is a display device such as a liquid crystal panel, and displays various screens such as an operation screen for operation by the input unit 84, as well as various information. The communication unit 86 is a communication interface, and transmits and receives signals and data between the component mounting devices M3-M6 on the component mounting lines L1-L3 and the component storage device S via the communication network 2. The wireless communication unit 3a transmits and receives signals and data wirelessly between the self-propelled component supply device V.

The management control unit 82 is a calculation device such as a CPU, and manages the component mounting system 1 based on the information stored in the management memory unit 83. The management control unit 82 has, as internal processing functions, a component out-of-stock management unit 82a, a component supply plan creation unit 82b, a component supply management unit 82c, and a collection timing calculation unit 82d. The management memory unit 83 is a storage device, and stores component mounting data as well as component management information 83a, component supply plan information 83b, and the like.

In FIG. 14, component management information 83a includes information linking the identification information N of each tape cassette C to the components D stored therein, the location of each tape cassette C, the remaining number of components D stored therein, and the predicted time until the components run out. Possible locations for tape cassettes C include component storage devices S, self-propelled component supply devices V, and component mounting devices M3 to M6. And, if tape cassette C is located in a component storage device S, component management information 83a includes information identifying that component storage device S and the location of the shelf on which it is stored.

When the tape cassette C is located in a self-propelled component supply device V, the component management information 83a includes information identifying the self-propelled component supply device V and its storage position within the storage unit 52 (supply cassette storage unit 52a, return cassette storage unit 52b). That is, the management computer 3 (component information management unit) stores the position and identification information N of the tape cassette C (storage container) stored in the storage unit 52 (storage container storage unit). When the tape cassette C is located in a component mounting device M3-M6, the component management information 83a includes information identifying the component mounting device M3-M6 (including information identifying the component mounting lines L1-L3), its position within the component supply unit 6, and information on the corresponding tape feeder 7.

In FIG. 14, the management control unit 82 updates the component management information 83a based on information sent from the component storage device S, the self-propelled component supply device V, and the component mounting devices M3 to M6. The component out-of-stock management unit 82a predicts the consumption of components D at each tape feeder 7 based on the component management information 83a and the component mounting data, calculates the predicted time until components run out, and updates the component management information 83a.

The component supply plan creation unit 82b creates component supply plan information 83b, which includes a component supply plan for supplying components D to each tape feeder 7 using a tape cassette C, based on the component management information 83a and the component mounting data. The component supply plan information 83b includes the location of the tape cassette C to be supplied, the position of the tape feeder 7 that supplies the tape cassette C (position within the component mounting lines L1-L3, component mounting devices M3-M6, and component supply unit 6), information identifying the self-propelled component supply device V that transports the tape cassette C to be supplied, and the movement route within the floor F.

In FIG. 14, the component supply management unit 82c transmits instructions regarding supply work to the component storage device S, the self-propelled component supply device V, and the component mounting devices M3 to M6 based on the created component supply plan information 83b. Specifically, the component supply management unit 82c instructs the component storage device S on the tape cassette C to be stored in the self-propelled component supply device V. That is, the management computer 3 (component information management unit) transmits information on the tape cassette C (storage container) to be supplied to the component storage device S (component storage unit).

The component supply management unit 82c instructs the self-propelled component supply device V on the tape cassette C to be stored, the path of movement within the floor F, and the position of the tape feeder 7 that supplies the tape cassette C (the component mounting lines L1-L3, the component mounting devices M3-M6, and the position within the component supply unit 6). The component supply management unit 82c instructs the component mounting devices M3-M6 on the position of the tape feeder 7 that supplies the tape cassette C (the position within the component supply unit 6).

When the self-propelled component supply device V supplies the tape feeder 7 with a tape cassette C, the component supply management unit 82c receives necessary information from the self-propelled component supply device V and the tape feeder 7 and transmits instructions to the self-propelled component supply device V and the tape feeder 7. Specifically, the component supply management unit 82c receives the identification information N of the tape cassette C read by the self-propelled component supply device V and verifies it against the information contained in the component supply plan information 83b to confirm whether it is the tape cassette C that has been instructed to be supplied. In other words, the management computer 3 (component information management unit) confirms whether the tape cassette C (storage container) is the tape cassette C that should be moved based on the identification information N transmitted from the self-propelled component supply device V.

When the component supply management unit 82c confirms that the tape cassette C that the self-propelled component supply device V is attempting to supply is correct, it transmits information to the tape feeder 7 instructing it to accept the supply of the component D. That is, the management computer 3 (component information management unit) transmits information to the tape feeder 7 (component supply device) that is to supply the component D from the tape cassette C (storage container) instructing it to accept the supply of the component D. When the component supply management unit 82c receives information from the tape feeder 7 that the carrier tape 14 has been inserted normally, it transmits an instruction to the self-propelled component supply device V to stop pushing out the carrier tape 14.

In FIG. 14, the collection timing calculation unit 82d calculates the collection timing of the tape scrap W for each component mounting device M3-M4 (or the component supply unit 6) based on the component management information 83a, the component mounting data, and the allowable storage capacity of the tape scrap W in the collection container 70 or the tape scrap collection box 76. Based on the calculation result, the collection timing calculation unit 82d adds an instruction to collect the tape scrap W to the component supply plan information 83b. In other words, the collection timing calculation unit 82d calculates the collection timing of the tape scrap W based on the component management information 83a and the mounting information of the component mounting devices M3-M6 included in the component mounting data. In this way, the management computer 3 becomes a component information management unit that stores and manages information on the components D.

In FIG. 14, the part storage device S includes a part storage control unit 91, a part storage memory unit 92, a part storage operation unit 93, an identification information reading unit 94, and a communication unit 95. The part storage operation unit 93 includes a transport mechanism that receives the tape cassettes C and reels L (see FIG. 19) to be stored that wind and store the carrier tape 14, moves them to a storage shelf included in the part storage device S, and removes them from the storage shelf and transfers them to the storage unit 52 of the self-propelled part supply device V.

The identification information reading unit 94 is an RF reader R or a barcode reader that reads the RFID 36 or barcode identification information N attached to the tape cassette C or reel L stored by the component storage device S. The communication unit 95 is a communication interface that transmits and receives signals and data between the communication network 2 and the management computer 3 and the component mounting devices M3 to M6. In other words, the component storage device S (component storage unit) can communicate with the management computer 3 (component information management unit). The component storage memory unit 92 stores information that links the identification information N read by the identification information reading unit 94 to the storage shelf. Various information about the stored tape cassette C (component D) stored in the component storage memory unit 92 is transmitted to the management computer 3 via the communication unit 95.

The part storage control unit 91 controls the part storage work unit 93 and the identification information reading unit 94 to execute storage work of receiving the tape cassette C or reel L, reading the identification information N, and storing it in a storage shelf. The part storage control unit 91 also controls the part storage work unit 93 based on instructions from the management computer 3 to take out the specified tape cassette C or reel L from the storage shelf and hand it over to the self-propelled part supply device V. That is, based on information from the management computer 3 (part information management unit), the part storage device S (part storage unit) positions the tape cassette C or reel L (storage container) to be supplied at a position where the cassette supply mechanism 58 and cassette recovery mechanism 61 (storage container transfer unit) of the self-propelled part supply device V can move it.

In FIG. 15, the tape feeder 7 includes a feeder control unit 21, a feeder memory unit 96, a tape feed mechanism 24, a shutter mechanism 23, an operation/display panel 29, an insertion detection sensor Q, and a communication unit 97. The feeder memory unit 96 stores various information such as the identification information N of the attached tape cassette C, the number of components D consumed, and the number remaining. The communication unit 97 is a communication interface, and transmits and receives signals and data with the mounting control unit 22. Furthermore, the communication unit 97 transmits and receives signals and data with the management computer 3 via the communication units 81 of the component mounting devices M3 to M6.

The feeder control unit 21 controls the tape feed mechanism 24, the shutter mechanism 23, and the insertion detection sensor Q to transport the leading tape 14(1), insert the trailing tape 14(2), and transition from the leading tape 14(1) to the trailing tape 14(2). When the feeder control unit 21 receives information from the management computer 3 that the self-propelled component supply device V is ready to insert the trailing tape 14(2), it opens the shutter 23a.

That is, when the tape feeder 7 (component supply device) receives information instructing it to accept the supply of component D, it opens the shutter 23a provided at the tape insertion port 7d as an operation to accept component D. In addition, when the insertion detection sensor Q detects that the leading end 14b of the trailing tape 14 (2) has been inserted, the feeder control unit 21 transmits that fact to the management computer 3. This makes it possible to prevent the carrier tape 14 (component D) from being erroneously inserted into a tape feeder 7 that is not the target for supply.

In FIG. 15, the self-propelled part supply device V includes a supply control unit 55, a supply memory unit 98, a traveling mechanism 54, a cassette supply mechanism 58, a cassette recovery mechanism 61, an RF reader R, a scrap recovery mechanism 74A (or a scrap recovery mechanism 74B), and a wireless communication unit T. The wireless communication unit T wirelessly transmits and receives signals and data with the management computer 3. In other words, the self-propelled part supply device V includes a wireless communication unit T that can wirelessly communicate with the management computer 3 (parts information management unit).

The supply memory unit 98 stores supply part information 98a and the like. The supply part information 98a includes identification information N of the tape cassette C stored in the storage unit 52, the storage position, and information such as the correspondence between the tape cassette C to be supplied and the tape feeder 7, the order of supply, the travel path within the floor F, and the timing of collecting the tape scraps W, which are transmitted from the management computer 3 based on the part supply plan information 83b. In other words, the self-propelled part supply device V stores the position and identification information N of the tape cassette C (storage container) stored in the storage unit 52 (storage container storage unit). The supply control unit 55 is a calculation device such as a CPU, and has a travel control unit 55a, an exchange control unit 55b, and a scrap collection control unit 55c as internal processing functions.

The travel control unit 55a controls the travel mechanism 54 based on the supply part information 98a to run the self-propelled component supply device V along the specified route and stop it at the stop position in front of the specified component mounting device M3-M4. The replacement control unit 55b controls the cassette supply mechanism 58 based on the supply part information 98a to receive the tape cassette C to be supplied from the component storage device S, store it in the supply cassette storage unit 52a, and supply it to the tape feeder 7 to be supplied. The replacement control unit 55b also controls the cassette recovery mechanism 61 based on the supply part information 98a to recover the used tape cassette C, store it in the recovery cassette storage unit 52b, and return the recovered tape cassette C to the used cassette recovery device U located on the floor F.

The exchange control unit 55b also controls the cassette supply mechanism 58 and the RF reader R (information reading unit) to read the identification information N at least when the tape cassette C (storage container) is moved from the part storage device S (part storage unit) to the supply cassette storage unit 52a (storage container storage unit) or after it is moved from the part storage device S to the supply cassette storage unit 52a. The supply control unit 55 transmits the read identification information N to the management computer 3. That is, the self-propelled part supply device V transmits the identification information N read by the RF reader R (information reading unit) to the management computer 3 (parts information management unit) via the wireless communication unit T.

The scrap collection control unit 55c controls the scrap collection mechanism 74A (scrap collection mechanism 74B) based on the supply part information 98a to collect the tape scraps W from the component mounting devices M3 to M6 that have been instructed to collect. That is, based on the calculation results of the collection timing calculation unit 82d of the management computer 3, the self-propelled component supply device V collects the tape scraps W using the scrap collection mechanism 74A (scrap collection mechanism 74B) (tape scrap collection means). The scrap collection control unit 55c causes the collected tape scraps W to be disposed of in the tape scrap disposal unit G located on the floor F.

Next, in accordance with the flows in Figs. 16 and 17, and with reference to Figs. 18 and 19, a component supply method in the component mounting system 1 will be described. In Fig. 16, the management control unit 82 of the management computer 3 acquires information on the consumption status of components D from component mounting devices M3 to M6 provided in the component mounting system 1, and updates the component management information 83a (ST1). Next, the component supply plan creation unit 82b creates component supply plan information 83b based on the updated component management information 83a and the component mounting data (ST2: component supply plan creation process).

Next, the self-propelled part supply device V instructed by the management computer 3 moves to the part storage device S, receives the tape cassette C to be supplied from the part storage device S also instructed by the management computer 3, and stores it in the supply cassette storage section 52a (ST3: supply cassette storage process). At that time, the RF reader R equipped in the self-propelled part supply device V reads the identification information N of the tape cassette C, and the read identification information N is linked to the information of the stored position and transmitted to the management computer 3.

In FIG. 16, the self-propelled component supply device V moves to the stop position of the component mounting device M3-M6 to be supplied in accordance with instructions from the management computer 3, and performs preparation work for replacing the tape cassette C (ST4: replacement preparation process). In the replacement preparation process (ST4), the storage unit 52 is connected to the component mounting device M3-M6 by the connection mechanism 66.

When the preparation for replacement is complete, the tape cassette C replacement work is started. With reference to FIG. 17, a tape cassette replacement method in which a used tape cassette C is collected and a tape cassette C to be replenished is mounted on the tape feeder 7 will be described. In FIG. 17, the replacement control unit 55b of the self-propelled component supply device V moves the supply head 57 of the cassette supply mechanism 58 to the rear of the tape cassette C to be replenished. Next, the replacement control unit 55b reads the identification information N of the tape cassette C to be replenished by the RF reader R and transmits it to the management computer 3. That is, the self-propelled component supply device V transmits information indicating that a component D of one stored tape cassette C (storage container) is to be replenished to the management computer 3 (component information management unit).

The parts supply management section 82c of the management computer 3 checks the transmitted identification information N against the stored parts supply plan information 83b (ST11) to confirm whether it is the desired tape cassette C (ST12: cassette checking process). That is, the self-propelled parts supply device V transmits the identification information N read by the RF reader R (information reading section) to the management computer 3 (parts information management section) via the wireless communication section T, and the management computer 3 checks whether the tape cassette C (storage container) is the tape cassette C that should be moved based on the transmitted identification information N.

If it is not the desired tape cassette C (No in ST12), that fact is transmitted to the management computer 3, and the supply of parts to the tape feeder 7 is skipped (ST11). The process of reading the identification information N in the self-propelled part supply device V (ST11) and the cassette matching process in the management computer 3 (ST12) may be omitted. In that case, when the self-propelled part supply device V is ready to supply the tape cassette C to be supplied according to the supply order of the part supply plan information 83b transmitted from the management computer 3 contained in the supply part information 98a, that fact (information indicating that the part D of one stored tape cassette C will be supplied) is transmitted to the management computer 3.

In FIG. 17, if it is confirmed in the cassette matching process (ST12) that it is the desired tape cassette C (Yes), the parts supply management unit 82c checks whether or not there is a tape cassette C at the upper holding position Hu of the tape cassette C to be collected based on the parts management information 83a (ST13). If there is a tape cassette C at the upper holding position Hu (Yes in ST13), the exchange control unit 55b of the self-propelled parts supply device V controls the cassette collection mechanism 61 to collect the used tape cassette C at the lower holding position Hd (ST14: cassette collection process).

Now, referring to FIG. 18(a), the cassette recovery step (ST14) by the cassette recovery mechanism 61 will be specifically described. In FIG. 18(a), the recovery head 60 of the cassette recovery mechanism 61 moves in the Y direction from a position (empty slot) in the recovery cassette storage section 52b where no tape cassette C is stored and which is vacant, to an external downward movement position Hm. The downward movement position Hm is behind the lower holding position Hd of the cassette holder 15 (between the cassette holder 15 and the self-propelled component supply device V), and is a position where the recovery head 60 and the tape cassette C it holds do not interfere with the surrounding tape cassettes C, etc., when the recovery head 60 holding the tape cassette C moves back and forth in the X direction.

The recovery head 60 then moves in the X direction at the downward movement position Hm until it is positioned behind the tape cassette C(1) to be recovered. The recovery head 60 then moves in the Y direction toward the cassette holder 15 to grasp the tape cassette C(1) at the downward holding position Hd. The recovery head 60 then moves in the Y direction, having grasped the tape cassette C(1), to the downward movement position Hm (arrow n1). When the tape cassette C(1) is recovered from the lower holding position Hd, the tape cassette C(2), which was at the upper holding position Hu, moves to the lower holding position Hd (arrow n2).

Then, the recovery head 60 holding the tape cassette C(1) moves in the X direction at the downward movement position Hm to the front of an empty slot in the recovery cassette storage section 52b. The recovery head 60 holding the tape cassette C(1) then moves in the Y direction, places the tape cassette C(1) in the empty slot in the recovery cassette storage section 52b, and releases its grip.

In FIG. 17, the feeder control unit 21 of the tape feeder 7 then opens the shutter 23a in accordance with instructions from the management computer 3 (ST15: shutter opening process). In FIG. 18(b), the shutter 23a of the tape feeder 7 is opened (arrow n3).

In FIG. 17, if there is no tape cassette C in the upper holding position Hu (No in ST13), there is only one tape cassette C in the cassette holder 15, and therefore the shutter opening process (ST15) is executed without retrieving the tape cassette C in the lower holding position Hd. In this way, the management computer 3 (component information management section) sends information to the tape feeder 7 (component supply device) that is to replenish the components D in the tape cassette C (3) (storage container), instructing it to accept the replenishment of the components D, and when the tape feeder 7 receives the information instructing it to accept the replenishment of the components D, it executes the operation (ST15) to accept the components D.

In FIG. 17, the exchange control unit 55b of the self-propelled component supply device V then controls the cassette supply mechanism 58 to move the tape cassette C(3) to be supplied to the supply position Hs of the tape feeder 7 to be supplied (ST16). Specifically, in the supply cassette storage unit 52a, the supply head 57 grasps the tape cassette C(3) to be supplied and moves in the Y direction to the forward supply position Hs. Next, the supply head 57 grasping the tape cassette C(3) moves in the X direction until it is located at the supply position Hs behind the tape feeder 7 to be supplied. In this way, the tape cassette C(3) to be supplied moves to the supply position Hs behind the tape feeder 7 to be supplied.

Next, the exchange control unit 55b controls the cassette supply mechanism 58 to push out the carrier tape 14(3) from the tape cassette C(3) and insert the leading end 14b of the carrier tape 14(3) through the tape insertion port 7d of the tape feeder 7 (ST17). Thereafter, the process (ST17) is continued to push out the carrier tape 14(3) (No in ST18) until the insertion detection sensor Q of the tape feeder 7 detects the leading end 14b of the carrier tape 14(3) (Yes in ST18).

In FIG. 18(b), the supply head 57 grasps the tape cassette C(3) and moves it to the supply position Hs (arrow n4). Then, in FIG. 19(a), the tape insertion means 57a pushes the push rod 39 of the tape cassette C(3) into the inside of the tape cassette C(3) (arrow n5), pushing the carrier tape 14(3) toward the tape feeder 7 and inserting it through the tape insertion port 7d of the tape feeder 7 (arrow n6). That is, the self-propelled component supply device V is equipped with the tape insertion means 57a that inserts and pushes the tip 14b of the carrier tape 14(3) stored in the tape cassette C(3) (storage container) into the tape insertion port 7d of the tape feeder 7 (autoload feeder).

The tape insertion means 57a then pushes the push rod 39 (carrier tape push-out member) into the inside of the tape cassette C(3) (storage container) to push out the carrier tape 14(3) from the tape cassette C(3). The leading end 14b of the carrier tape 14(3) inserted into the tape insertion port 7d of the tape feeder 7 reaches the insertion detection sensor Q. When the insertion detection sensor Q detects the leading end 14b, it transmits a notice to the management computer 3, which instructs the self-propelled component supply device V to end the pushing out of the carrier tape 14(3). In other words, when the insertion detection sensor Q (tape insertion detection unit) detects that the carrier tape 14(3) has been inserted normally, it notifies the self-propelled component supply device V of this fact, and the tape insertion means 57a stops pushing the carrier tape 14(3).

In FIG. 17, when the extrusion of the carrier tape 14(3) is completed (Yes in ST18), the exchange control unit 55b controls the cassette supply mechanism 58 to release the grip of the tape cassette C(3) (ST19: grip release process) and moves the supply head 57 into the supply cassette storage unit 52a.

Specifically, in FIG. 19(b), the released tape cassette C(3) moves slightly behind the supply position Hs (arrow n7) and moves in the X direction to the front of an empty slot in the supply cassette storage section 52a (e.g., the slot in which the replenished tape cassette C(3) was stored). The supply head 57 then moves in the Y direction and moves into the supply cassette storage section 52a. The released tape cassette C(3) moves from the supply position Hs to the upper holding position Hu (arrow n8).

As described above, the shutter opening process (ST15) through the grip release process (ST19) constitute a cassette supply process in which the tape cassette C (3) to be supplied is supplied by the self-propelled component supply device V. In this way, the cassette supply mechanism 58 and the cassette recovery mechanism 61 (storage container transfer section) move the tape cassette C (3) (storage container) to be supplied from the supply cassette storage section 52a (first area) to the upper holding position Hu (first holding position), and move the used tape cassette C (1) (storage container) from the lower holding position Hd (second holding position) to the recovery cassette storage section 52b (second area).

In FIG. 16, when the cassette exchange process (ST5) in the connected component mounting devices M3 to M6 is completed, the scrap collection control unit 55c of the self-propelled component supply device V controls the scrap collection mechanism 74A (scrap collection mechanism 74B) to collect the tape scraps W based on the calculation result of the collection timing calculation unit 82d of the management computer 3 (ST6: tape scrap collection process). Next, the component supply management unit 82c of the management computer 3 or the supply control unit 55 of the self-propelled component supply device V determines whether the scheduled supply has been completed (ST7). If the supply has not been completed (No in ST7), the self-propelled component supply device V moves to the component mounting device M3 to M6 that is to be the next supply target, and the exchange preparation process (ST4) to the tape scrap collection process (ST6) are performed.

When the scheduled supply of tape cassettes C (components D) has been completed in component mounting devices M3 to M6 (Yes in ST7), the self-propelled component supply device V moves to the tape waste disposal section G and disposes of the collected tape waste W (ST8). The self-propelled component supply device V then moves to the used cassette recovery device U and hands over the used tape cassette C to be stored in the recovered cassette storage section 52b to the used cassette recovery device U.

As described above, the component mounting system 1 of this embodiment includes component mounting devices M3 to M6 that mount components D on a board B, tape feeders 7 (component supply devices) that are mounted on the component mounting devices M3 to M6 and supply the components D, and a self-propelled component supply device V that automatically moves while holding a tape cassette C (storage container) that stores multiple components D, and supplies the components D on the carrier tape 14 wound and stored in the tape cassette C to the tape feeder 7. This allows components D to be automatically removed from the component storage device S (component storage section) and supplied to the component mounting devices M3 to M6.

Next, referring to FIG. 20, a second embodiment of the tape cassette C1 that winds and stores the carrier tape 14 and supplies it to the tape feeder 7 will be described. Hereinafter, the same components as those in the first embodiment shown in FIG. 6 and FIG. 7 are given the same reference numerals, and detailed description will be omitted. The tape cassette C1 of the second embodiment differs from the first embodiment in that a reel L that winds and stores the carrier tape 14 is stored inside. FIG. 20(a) shows the tape cassette C1 with the transparent cover 101 and opaque cover 102 attached, and FIG. 20(b) shows the tape cassette C1 with the transparent cover 101 and opaque cover 102 removed.

In FIG. 20(a), a transparent cover 101 such as an acrylic plate is attached to the front of the reel L stored in the tape cassette C1. An opaque cover 102 such as a metal plate is attached to the front of the tape extrusion mechanism 33. A barcode 103 is attached to the side of the reel L, and the barcode 103 can be read through the transparent cover 101. In other words, with the transparent cover 101 and the opaque cover 102 attached, the tape cassette C1 can read the identification information N by reading the barcode 103 with a barcode reader. The tape cassette C1 can reduce the labor required to transfer the carrier tape 14 by storing the carrier tape 14 delivered by the vendor in the tape cassette C1 as a reel L.

Next, a second embodiment of the self-propelled part supply device V1 and the cart 110 will be described with reference to Figures 21 and 22. Hereinafter, the same components as those in the first embodiment shown in Figures 10 and 11 will be given the same reference numerals, and detailed description will be omitted. The self-propelled part supply device V1 and the cart 110 of the second embodiment differ from the first embodiment in that the tape cassette C is replaced without connecting the storage section 52 to the cart 110.

In FIG. 21, the self-propelled parts supply device V1 is composed of a cart section 50, a support device 111, and a storage section 52 stacked from below. The support device 111 is fixed at its lower part to the cart section 50 and at its upper part to the storage section 52, supporting the storage section 52 from below. The support device 111 has a built-in slider and motor that moves the upper part relative to the lower part in the horizontal direction (X direction, Y direction) and vertical direction (Z direction), and the motor is driven and controlled by the supply control unit 55 to move the storage section 52.

In FIG. 22, two light-shielding sensors 112 are disposed in the cart section 50 at positions facing the cart section 50 when the tape cassette C is replaced. In FIG. 21, two dogs 113 that shield the light-shielding sensors 112 are disposed in the cart section 50 at positions facing the cart section 50 when the tape cassette C is replaced. When the tape cassette C is replaced, each dog 113 shields the light-shielding sensor 112 from light. The detection result of the light-shielding sensor 112 is sent to the supply control section 55.

In FIG. 22, two laser displacement meters 114 are disposed in the storage section 52 at positions facing the cart 110 when the tape cassette C is replaced. In FIG. 21, two targets 116 that reflect the laser light 115 irradiated from the laser displacement meters 114 are disposed in the cart 110 at positions facing the storage section 52 when the tape cassette C is replaced. When the tape cassette C is replaced, the position of the storage section 52 relative to the cart 110 is measured by the laser light 115 that is returned after being irradiated by the laser displacement meters 114 to the targets 116. The measurement result is sent to the supply control unit 55.

Next, the replacement preparation process (ST4) in the self-propelled component supply device V1 will be described. First, the self-propelled component supply device V1 moves to the front of the cart 110 on which the tape feeder 7 to be supplied is mounted. It then moves slowly in the direction of the cart 110 (Y direction) until the light blocking sensor 112 detects light blocking. This completes rough alignment of the self-propelled component supply device V1 with respect to the cart 110. This position becomes the stopping position. Next, the position of the storage unit 52 with respect to the cart 110 is measured by the laser displacement meter 114, and based on the measurement result, the supply control unit 55 controls the support device 111 to perform precise alignment of the self-propelled component supply device V1 with respect to the cart 110.

Thus, the self-propelled component supply device V1 is equipped with a carriage unit 50 (traveling means) that automatically moves or stops with a storage unit 52 (container storage unit) above, and a position measurement means (light-shielding sensor 112, laser displacement meter 114) that measures its position relative to the component mounting devices M3 to M6. When the tape cassette C (storage container) is moved between the storage unit 52 and the cassette holder 15 (container holding device) by the storage container transfer unit (cassette supply mechanism 58, cassette recovery mechanism 61), the carriage unit 50 stops the self-propelled component supply device V1 at a predetermined stopping position relative to the component mounting devices M3 to M6 based on the measurement results of the position measurement means.

The supply control unit 55 also monitors the measurement results of the laser displacement meter 114 while the tape cassette C is being replaced. If the storage unit 52 moves out of its stopping position, for example because the worker bumps into the self-propelled component supply device V1, the replacement work is interrupted and the trolley unit 50 and support device 111 are controlled to align it to its stopping position. In other words, when the self-propelled component supply device V1 moves out of its stopping position, the storage container relocation unit interrupts the movement of the tape cassette C (storage container), and the trolley unit 50 (traveling means) and support device 111 correct the position of the self-propelled component supply device V1 so that it is at its stopping position. In this way, the trolley 110 does not require a connecting unit 63, and the structure of the trolley 110 is simplified.

Next, referring to FIG. 23, a third embodiment of the self-propelled part supply device V2 will be described. Hereinafter, the same components as those in the first embodiment shown in FIG. 10 and FIG. 11 will be given the same reference numerals, and detailed description will be omitted. The self-propelled part supply device V2 of the third embodiment differs from the first embodiment in that it supplies and collects reels L (storage containers) instead of tape cassettes C, and in that the storage container transfer unit is an articulated robot.

The self-propelled part supply device V2 is constructed by stacking a carriage unit 50 and a storage unit 120 from below. The storage unit 120 is fixed to the carriage unit 50. In the storage unit 120, a supply reel storage shelf 121a for storing the reel L to be supplied and a recovery reel storage shelf 121b for storing the recovered reel L are arranged above and below. In addition, an articulated robot 122 is arranged above the storage unit 120. The tip 123 of the articulated robot 122 is provided with a gripping device for gripping the reel L, a camera or sensor for recognizing the position information of the tip 123 of the articulated robot 122 and recognizing the tape insertion port 7d of the tape feeder 7, and an insertion device (tape insertion means) for inserting the carrier tape 14 wound around the reel L into the tape insertion port 7d.

When the self-propelled component supply device V2 replaces the reel L, it moves to the front of the component mounting device M3 to M6 to be replaced, and recognizes the positioning mark (not shown) provided on the component mounting device main body or the dolly 131 by the articulated robot 122 and the tip 123 to recognize the position information of the articulated robot 122 and the tip 123. Next, the articulated robot 122 and the tip 123 take out the reel L to be supplied from the supply reel storage shelf 121a and place it on the cassette holder 15, recognize the tape insertion port 7d of the tape feeder 7 by a camera, and insert the carrier tape 14 into the tape insertion port 7d. The articulated robot 122 and the tip 123 also retrieve the used reel L from the cassette holder 15 and place it on the retrieved reel storage shelf 121b.

The self-propelled component supply device V2 recognizes and corrects the position of the component mounting device main body or the dolly 131 using a camera or sensor provided at the tip 123, and recognizes the position of the reel L gripped by the articulated robot 122 and the tip 123, the position of the tape feeder 7, etc., and the self-propelled component supply device V2 recognizes and corrects the positional relationship between itself and the dolly 131, making it possible to align the self-propelled component supply device V2 and the dolly 131 without mechanically connecting them. Note that the positioning mark may be provided not on the dolly 131 but on the component mounting device main body to which the dolly 131 is connected. Here, the camera or sensor provided at the tip 123 serves as a recognition means for recognizing the positioning marks provided on the component mounting devices M3 to M6 (including the dolly 131).

In this embodiment, the supply reel storage shelf 121a and the recovery reel storage shelf 121b are arranged above and below in the storage section 120, but the arrangement of the shelves is not limited to this. Supply reels and recovery reels may be arranged in a mixed manner on each of the upper and lower shelves, or only one shelf, either the upper or lower, may be provided with a storage shelf in which supply reels and recovery reels can be arranged in a mixed manner.

In this embodiment, the parts storage unit that stores the storage containers (tape cassettes C, reels L) is not limited to the parts storage device S. An operator may read the identification information N of the storage container using a mobile terminal that can wirelessly communicate with the management computer 3, store it in the parts warehouse (parts storage unit), and remove the storage container according to instructions sent from the management computer 3 to the mobile terminal and store it in the self-propelled parts supply device V.

In this embodiment, the component supply device (tape feeder 7) mounted on the component mounting devices M3 to M6 is supplied with and retrieved from a storage container (tape cassette C, reel L) that stores components D. However, this is not limited to the above, and the component supply device (hereinafter referred to as "built-in tape feeder 130") that contains the components D (carrier tape 14) may itself be supplied to and retrieved from the component mounting devices M3 to M4 by a self-propelled component supply device V. In addition, the reel L may be provided with a reel holder that holds the reel L, and the reel may be supplied and retrieved by a component supply device that can move integrally with the carrier tape 14 (component D) wound around and stored on the reel L.

The following describes the configuration of the self-propelled component supplying device V, which supplies and retrieves component supply devices to and from component mounting devices M3 to M6, and the operation of supplying and retrieving them, using the built-in tape feeder 130 as an example, with reference to Figures 24 to 27. Note that the basic operation and configuration are almost the same as for tape cassette C, so only the alignment of the self-propelled component supplying device V and the operation of supplying and retrieving the built-in tape feeder 130 to and from component mounting devices M3 to M6 will be explained.

First, referring to Figures 24 and 25, a fourth embodiment of the self-propelled component supplying device V3 and the cart 131 that supplies and collects the built-in tape feeders 130 will be described. Hereinafter, the same components as those in the first embodiment shown in Figures 10 and 11 are given the same reference numerals, and detailed description will be omitted. Above the cart 131, multiple built-in tape feeders 130 are detachably mounted in parallel in the X direction. A gripping portion 130a is provided on the front surface of the built-in tape feeder 130 (the outer surface when mounted on the component mounting devices M3 to M6). A connecting portion 63 is provided on the cart 131 in front of the built-in tape feeder 130.

In FIG. 24, the self-propelled part supply device V3 is constructed by stacking from the bottom a carriage section 50, a support section 51, and a storage section 132. In FIG. 25, the storage section 132 has a supply feeder storage shelf 132a for storing the built-in tape feeders 130 to be supplied and a recovery feeder storage shelf 132b for storing the recovered built-in tape feeders 130 arranged side by side in the X direction (the traveling direction of the self-propelled part supply device V3). A connecting roller 62a and a connecting hook 62b are arranged on the outer wall of the storage section 132 in the X direction (see also FIG. 25).

In FIG. 24, an X-axis beam 133x is disposed along the X-direction on the ceiling of the storage section 132. An X-axis slider 133a driven by an X-axis linear drive mechanism is provided on the X-axis beam 133x so as to be movable in the X-direction along the X-axis beam 133x (arrow p2 in FIG. 25). The X-axis beam 133x, the X-axis slider 133a, and the X-axis linear drive mechanism constitute an X-axis movement mechanism.

Below the X-axis slider 133a, a Y-axis beam 133y is disposed along the Y direction (a direction perpendicular to the traveling direction of the self-propelled part supply device V). A Y-axis slider 133b driven by a linear drive mechanism is provided on the Y-axis beam 133y so as to be movable in the Y direction (arrow p1) along the Y-axis beam 133y. The Y-axis beam 133y, the Y-axis slider 133b, and the Y-axis linear drive mechanism constitute a Y-axis movement mechanism.

A transfer head 134 is attached to the Y-axis slider 133b. The transfer head 134 is equipped with a gripping device 134a. The gripping device 134a grips the gripping portion 130a of the built-in tape feeder 130 on the trolley 131, the supply feeder storage shelf 132a, and the return feeder storage shelf 132b.

The X-axis movement mechanism, the Y-axis movement mechanism, and the transfer head 134 constitute the feeder transfer mechanism. The feeder transfer mechanism grasps the built-in tape feeder 130 to be replenished that is stored in a predetermined position on the supply feeder storage shelf 132a, removes it from the storage section 132, moves it in the X and Y directions outside the storage section 132, and attaches it to the cart 131. The feeder transfer mechanism also grasps the built-in tape feeder 130 to be collected that is attached to the cart 131, moves it in the X and Y directions outside the storage section 132, and stores it in a predetermined position on the collection feeder storage shelf 132b.

Next, the operation of the self-propelled component supply device V3 to supply and retrieve the built-in tape feeder 130 will be described. The process in which the self-propelled component supply device V3 stores the built-in tape feeder 130 to be replenished (supply cassette storage process (ST3)) and the process in which it connects to the connecting section 63 (replacement preparation process (ST4)) are the same as in the first embodiment, and therefore the description will be omitted. When the storage section 132 is connected to the connecting section 63, the feeder transfer mechanism transfers the built-in tape feeder 130 to be replenished from the cart 131 to the recovery feeder storage shelf 132b and stores it, and transfers the built-in tape feeder 130 to be replenished from the supply feeder storage shelf 132a to the cart 131 and attaches it to the cart 131.

Next, referring to Figures 26 and 27, a fifth embodiment of the self-propelled part supplying device V4 and the cart 141 that supplies and collects the built-in tape feeder 130 will be described. Hereinafter, the same components as those in the second embodiment shown in Figures 21 and 22 and the fourth embodiment described above will be given the same reference numerals, and detailed description will be omitted. Above the cart 141, multiple built-in tape feeders 130 are detachably mounted in parallel in the X direction. The self-propelled part supplying device V4 is configured by stacking the cart section 50, the support device 111, and the storage section 132 from below. The light-shielding sensor 112 is disposed on the cart section 50, the dog 113 on the cart 141, the laser displacement meter 114 on the storage section 132, and the target 116 on the cart 141.

In the replacement preparation process (ST4), the operation of the self-propelled component supply device V4 to align with the cart 141 is the same as in the second embodiment (self-propelled component supply device V1 and cart 110), and so a description thereof will be omitted. After alignment, the operation of the self-propelled component supply device V4 to supply and retrieve the built-in tape feeder 130 is the same as in the self-propelled component supply device V3 in the fourth embodiment, and so a description thereof will be omitted.

The embodiments described above can be implemented in any suitable combination.

The component mounting system of the present invention has the effect of reducing the amount of work required by workers to replace components, and is useful in the field of component mounting, where components are mounted on boards.

1. Component mounting system 3. Management computer (component information management section)
15 Cassette holder (container holding device)
51 Support section 52, 120, 132 Storage section (storage container storage section)
52a Supply cassette storage section (first area)
52b Collection cassette storage section (second area)
63 Connection portion 112 Light shielding sensor (position measuring means)
114 Laser displacement meter (position measuring means)
B: Substrate C, C1: Tape cassette (storage container)
D Part Hu Upper holding position (first holding position)
Hd Lower holding position (second holding position)
L reel (storage container)
M3 to M6 Component mounting device R RF reader (information reading unit)
S Parts storage device (parts storage section)
T Wireless communication unit V, V1, V2, V3, V4 Self-propelled parts supply device

Claims (12)

1. A component mounting method comprising: moving a tape feeder having a carrier tape for storing a plurality of components from a component storage unit, the tape feeder being stored in the component storage unit, via a self-propelled component supply device, to a component mounting device that mounts components on a board, the method comprising:
reading identification information from a bar code on the outside of a reel that winds and stores the carrier tape;
storing the tape feeder in a storage section that is provided in the self-propelled component supplying device and has a first area and a second area located below the first area; running the self-propelled component supplying device; and moving a tape feeder to be supplied to the component mounting device by a transfer section;
a holding device that is provided in the component mounting device and holds the tape feeder, the holding device having a first holding position and a second holding position located below the first holding position, the tape feeder to be replenished is moved from the first area to the first holding position from the storage section;
The component mounting method, in which the component mounting device mounts the components stored in the reels stored in the supplying tape feeder that have been moved to the holding device by the transfer unit onto the board. The component mounting method according to claim 1, further comprising issuing instructions to the self-propelled component supply device regarding the supply operation based on component supply plan information including the position of the tape feeder to be supplied. The component mounting method according to claim 2, further comprising issuing instructions regarding replenishment work to a component storage device that stores the reels based on the component replenishment plan information. The component mounting method according to claim 3, wherein a component information management unit that manages component information transmits information about the reel to be supplied to the component storage device. The component mounting method according to claim 4, further comprising storing the read identification information in the component information management unit. The component mounting method according to any one of claims 1 to 3, wherein the used tape feeder is moved from the second holding position to the second area. A component mounting system that moves a tape feeder having a carrier tape for storing a plurality of components from a component storage unit, via a self-propelled component supplying device, to a component mounting device that mounts components on a board, comprising:
a reading unit that reads identification information from a barcode on the outside of a reel that winds and stores the carrier tape;
the self-propelled component supply device stores the tape feeder in a storage section having a first area and a second area located below the first area, runs the self-propelled component supply device, and moves a tape feeder to be supplied to the component mounting device by a transfer section,
a holding device that is provided in the component mounting device and holds the tape feeder, the holding device having a first holding position and a second holding position located below the first holding position, the tape feeder to be replenished is moved from the first area to the first holding position from the storage section;
The component mounting device mounts the components stored in the reels stored in the replenishing tape feeder that has been moved to the holding device by the transfer unit onto the board. The component mounting system according to claim 7, further comprising a management computer that instructs the self-propelled component supply device regarding the supply work based on component supply plan information including the position of the tape feeder to be supplied. The component mounting system according to claim 8, wherein the management computer issues instructions regarding replenishment work to a component storage device that stores the reels based on the component replenishment plan information. The component mounting system according to claim 9, wherein the management computer has a component information management unit that manages component information, and the management computer transmits information about the reels to be supplied to the component storage device. 11. The component mounting system according to claim 9, wherein the read identification information is stored in the management computer. A component mounting system according to any one of claims 7 to 11, which moves the used tape feeder from the second holding position to the second area.

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