JPWO2020026619A1 - Automatic replacement system and management device and automatic replacement method - Google Patents

Abstract

The transfer device of the automatic exchange system includes an end effector, a moving mechanism, a recognition unit, a route setting unit, and a control unit. The end effector holds a parts feeder or parts container. The moving mechanism moves the end effector. The recognition unit recognizes a unit recognition body provided in the component supply unit. The route setting unit sets a movement route for moving the end effector. The control unit controls the movement mechanism and moves the end effector to at least one of the component supply device and the component container based on the set movement path and the recognition result by the recognition unit.

Description

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

The component mounting device is a component supply unit such as a trolley that holds in parallel a component container such as a reel that accommodates a plurality of components and a component supply device such as a feeder that moves the component accommodated by the component container to the component supply position. And mount the parts supplied to the parts supply position on the board. An automatic replacement device for automatically replacing a component supply device mounted on such a component mounting device is known (see, for example, Patent Document 1). In Patent Document 1, a parts cassette in which a parts container and a parts supply device are integrated is made to stand by on a standby stand provided in the parts mounting device, gripped by a robot provided in the parts mounting device, and transferred to the parts supply unit. It is disclosed that it will be exchanged.

Japanese Unexamined Patent Publication No. 4-283035

However, when the parts supply device and the parts container that are mounted separately are replaced individually, or when the parts supply device and the parts container are replaced by a robot that is independent of the parts mounting device, the robot and the replacement target are It may deviate from the predetermined position, and even in such a case, there is room for further improvement in replacing the parts supply device and the parts container without making a mistake.

The present disclosure provides an automatic replacement system and management device as well as an automatic replacement method capable of accurately replacing a component container.

The automatic replacement system of the present disclosure replaces at least one of a parts container and a parts supply device that moves a part housed in the parts container to a parts supply position. The parts supply device and the parts container are included in the parts supply unit. This automatic exchange system includes a transfer device having an end effector, a moving mechanism, a recognition unit, a route setting unit, and a control unit. The end effector holds a parts feeder or parts container. The moving mechanism is configured to move the end effector. The recognition unit is provided in the component supply unit and recognizes a unit recognizer for identifying the component supply unit. The route setting unit sets a movement route for moving the end effector. The control unit controls the moving mechanism. The control unit moves the end effector to at least one of the component supply device and the component accommodator based on the set movement path and the recognition result by the recognition unit.

The management device of the present disclosure generates work instructions for the transfer device. The transfer device has a parts container and a movable end effector that replaces at least one of the parts supply devices that move the parts housed in the parts container to the parts supply position. The parts accommodator and the parts supply device are included in the parts supply unit. This management device includes a storage unit that stores the external dimension information of the component supply unit, and a work instruction generation unit that generates a work instruction including a movement target of the end effector based on the external dimension information of the component supply unit.

In the automatic replacement method of the present disclosure, at least one of the parts supply device and the parts container is replaced by a transfer device having a movable end effector. The parts supply device and the parts container are included in the parts supply unit. The parts supply device moves the parts housed in the parts container to the parts supply position. In this automatic replacement method, a unit recognizer provided in the component supply unit for identifying the component supply unit is recognized. On the other hand, a movement route for moving the end effector is set. Then, the end effector is moved to at least one of the component supply device and the component accommodator based on the set movement path and the recognition result of the unit recognizer.

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

Configuration explanatory view of the component mounting system according to the embodiment of the present disclosure Configuration explanatory view of the component mounting line included in the component mounting system of the embodiment of the present disclosure. Configuration explanatory view of the component mounting device on which the component supply carriage included in the component mounting system of the embodiment of the present disclosure is mounted. Front view of the component supply carriage included in the component mounting system according to the embodiment of the present disclosure. A configuration explanatory view of a component mounting device to which a tray feeder included in the component mounting system according to the embodiment of the present disclosure is mounted. A perspective view of a tray feeder included in the component mounting system according to the embodiment of the present disclosure. Schematic diagram of the configuration of the transfer device included in the component mounting system according to the embodiment of the present disclosure. A block diagram showing a configuration of a control system of a component mounting system (automatic replacement system) according to an embodiment of the present disclosure. Explanatory drawing of an example of unit information used in the component mounting system (automatic replacement system) of the embodiment of the present disclosure. Explanatory drawing of external dimensions of component supply carriage included in the component mounting system of one embodiment of the present disclosure. Explanatory drawing of an example of external dimension information used in the component mounting system (automatic replacement system) of the embodiment of the present disclosure. Explanatory drawing of an example of supply device information used in the component mounting system (automatic replacement system) of the embodiment of the present disclosure. The figure which shows the flow of the automatic exchange method of one Embodiment of this disclosure. Schematic diagram of automatic replacement of component reels in the component mounting system (automatic replacement system) according to the embodiment of the present disclosure. FIG. 14A is a process explanatory view of automatic replacement of parts reels. FIG. 14B is a process explanatory view of automatic replacement of parts reels. FIG. 14C is a process explanatory view of automatic replacement of parts reels. FIG. 15A is a process explanatory view of automatic replacement of parts reels. FIG. 15B is a process explanatory view of automatic replacement of parts reels. Front view of the second component supply carriage included in the component mounting system according to the embodiment of the present disclosure. Partial enlarged view of an example of a trolley recognition target formed on the second component supply trolley according to the embodiment of the present disclosure. Partial enlarged view of an example of the mounting portion recognition target formed on the second component supply carriage of the second embodiment of the present disclosure. Schematic diagram of the configuration of the second transfer device included in the component mounting system according to the embodiment of the present disclosure. A process explanatory view of a contact detection operation for recognizing the position of a trolley recognition target by the second transfer device according to the embodiment of the present disclosure. A process explanatory view of the contact detection operation following FIG. 19A. FIG. 19B is a process explanatory view of the contact detection operation. Explanatory drawing which recognizes the position of the 2nd component supply carriage by the 2nd transfer apparatus of one Embodiment of this disclosure.

An embodiment of the present disclosure will be described in detail below with reference to the drawings. The configurations, shapes, and the like described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting system, component mounting line, component mounting device, component supply carriage, and tray feeder. In the following, the corresponding elements will be designated by the same reference numerals in all the drawings, and duplicate description will be omitted. In FIG. 1 and a part described later, the two axial directions orthogonal to each other in the horizontal plane are the X direction of the substrate transport direction (horizontal direction in FIG. 4) and the Y direction orthogonal to the substrate transport direction (horizontal direction in FIG. 3). Is shown. Further, in FIG. 2, the Z direction (vertical direction in FIG. 3) is shown as a height direction orthogonal to the horizontal plane.

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

A material storage W is installed on the floor F. It is assumed that the material storage W stores the parts supplied to the component mounting devices constituting the component mounting lines L1 to L3 in a form of being housed in a component reel, a tray, a stick case, or the like. The parts reel, tray, and stick case are parts containers for accommodating a plurality of parts.

A plurality of transfer devices V, which are automatic guided vehicles, are installed on the floor F. The transfer device V has a built-in wireless communication unit T, and transmits / receives signals and information to / from the management computer 3 via the wireless management communication unit 3a of the management computer 3. The transfer device V includes work instructions transmitted from the management computer 3, a travel path tape and a beacon installed on the floor F (not shown), various sensors (GPS, obstacle sensor, etc.) built in the transfer device V, a camera, and the like. Based on the information collected by the user using the above, the vehicle autonomously moves on the travel path set on the floor F.

Next, a detailed configuration of the component mounting lines L1 to L3 will be described with reference to FIG. The component mounting lines L1 to L3 have the same configuration, and the component mounting lines L1 will be described below. The component mounting line L1 includes a printing machine M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5 in order from the upstream side (left side in FIG. 2) in the substrate transport direction. Each device has a substrate transfer mechanism such as a belt conveyor, and the substrate transfer mechanism of each device manufactures a mounting substrate while transporting the substrate from upstream to downstream. Each device is connected to the management computer 3 by a wired or wireless communication network 2, and data can be transmitted / received to / from the management computer 3.

In FIG. 2, the printing machine M1 has a function of printing a paste-like cream solder on a substrate via a screen mask. The three component mounting devices M2 to M4 have a function of picking up the components supplied to the component supply unit 4 by the component suction nozzle mounted on the mounting head and transferring and mounting the components to the mounting point of the board on which the cream solder is printed. Have. A component supply carriage 5, which will be described later, is mounted on the component supply unit 4 of the component mounting devices M2 and M3. A tray feeder 6, which will be described later, is mounted on the component supply unit 4 of the component mounting device M4.

The reflow device M5 has a function of heating a substrate on which a component is mounted to melt the cream solder and then solidifying the substrate to solder the component to the substrate. The management computer 3 controls the production of the mounting board manufactured on the component mounting lines L1 to L3, downloads the programs and data necessary for manufacturing the mounting board for each device for mounting the component, and mounts the component on the component mounting device. A process for supporting the replenishment work for replenishing M2 to M4 is executed.

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

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

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

In FIG. 4, the stick feeder 14 supplies a plurality of components D housed in series inside a long and hollow stick case 17 to a component supply position E. As a method of moving the component D in the stick feeder 14 to the component supply position E, vibration, extrusion by a wire, or the like is used. The stick case 17 is stored in a stacked state in the loading portion 14a provided on the upper part of the stick feeder 14. That is, the stick feeder 14 is a parts supply device that moves the parts D housed in the stick case 17 (parts container) to the parts supply position E. As described above, the parts supply carriage 5 has the parts container (parts reel 16, stick case 17) and the parts supply device (tape feeder 13, stick feeder 14), and the parts D are attached to the parts mounting devices M2 and M3. Configure the parts supply unit to be supplied.

In FIG. 3, the component mounting devices M2 and M3 include a board transport mechanism 8, a mounting head 10, and a mounting control unit 18 that controls a head moving mechanism. The mounting control unit 18 transmits a supply command for the component D to the tape feeder 13 or the stick feeder 14 to supply the component D to the component supply position E. Further, the mounting control unit 18 controls the mounting head 10 and the head moving mechanism, takes out the component D supplied by the component supply device to the component supply position E by the mounting head 10, and holds the component D in the substrate transfer mechanism 8. The component mounting work to be transferred and mounted is executed at the mounting position.

In FIG. 4, a carriage mark Mc is attached to the appearance of the lower portion 5a of the parts supply carriage 5. A mounting portion mark Ma is attached to the appearance of the feeder mounting portion 12. The carriage mark Mc and the mounting portion mark Ma include a barcode on which information for identifying the parts supply carriage 5 is recorded, a two-dimensional code, a unique mark, and the like. When a plurality of marks (here, two trolley mark Mc and two mounting portion marks Ma) are attached to the parts supply trolley 5, information for identifying the attached position is also recorded in each mark. ..

As described above, the carriage mark Mc and the mounting portion mark Ma are unit recognition bodies attached (formed) to the appearance of the parts supply unit (parts supply carriage 5). The carriage mark Mc and the mounting portion mark Ma may be attached to any of the front surface, the side surface, the upper surface, the rear surface, and the lower surface when viewed from the side recognizing each mark, as long as they are visible from the outside.

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

As described above, the tape feeder mark Mt and the stick feeder mark Ms are the feeder recognition bodies attached (formed) to the appearance of the component feeders (tape feeder 13, stick feeder 14). The supply device recognition body is provided to identify the component supply device.

The tape feeder mark Mt and the stick feeder mark Ms may be attached to any of the front surface, the side surface, the upper surface, the rear surface, and the lower surface when viewed from the side recognizing each mark, as long as they are visible from the outside. ..

Next, the configuration of the component mounting device M4 will be described with reference to FIGS. 5 and 6. The component mounting device M4 is the same as the component mounting devices M2 and M3 except that the tray feeder 6 is mounted on the component supply unit 4 instead of the component supply carriage 5. The configuration of the tray feeder 6 will be described below. In FIG. 5, on the upper surface of the feeder mounting portion 20 included in the tray feeder 6, a rack portion 21 is installed on the front side and a pallet moving portion 22 on the rear side of the tray feeder 6 mounted on the component supply unit 4.

A plurality of (here, two) magazine holding portions 26 for accommodating magazines 25 for stacking and accommodating pallets 24 for mounting trays 23 for accommodating parts D are arranged in the rack portion 21 in the vertical direction. .. A rack door 26a that can be opened forward is provided on the operation surface of the rack portion 21. The magazine 25 is inserted into and removed from the magazine holding portion 26 with the rack door 26a open (lower side in FIG. 6). A pallet mounting portion 27 is provided above the uppermost magazine holding portion 26. An opening / closing cover 27a that can be opened freely (arrow a) is provided on the operation surface of the rack portion 21. When the opening / closing cover 27a is opened, one pallet 24 having the tray 23 mounted on the pallet mounting portion 27 can be taken in and out of the tray feeder 6.

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

As described above, the tray 23 and the magazine 25 accommodating the plurality of trays 23 are component accommodators accommodating the plurality of components D. Further, the pallet moving unit 22 having the pallet mounting table 28, the elevating mechanism 29, and the taking-out mechanism 28a is a parts supply device for moving the parts D housed in the tray 23 (parts container) to the parts supply position E. The tray feeder 6 is a component supply unit that has a component container (tray 23) and a component supply device, and supplies the component D to the component mounting device M4.

In FIG. 6, a rack mark Ml is attached to each appearance of the rack door 26a. The rack mark Ml includes a barcode in which information for identifying the tray feeder 6 and information on the position (upper and lower) of the rack door 26a (magazine holding portion 26) are recorded, a two-dimensional code, a unique mark, and the like. ing. An opening / closing mark Mo is attached to the front surface of the opening / closing cover 27a. The open / close mark Mo includes a bar code or a two-dimensional code in which information for identifying the tray feeder 6 is recorded. As described above, the rack mark Ml and the open / close mark Mo are unit recognition bodies attached (formed) to the appearance of the component supply unit (tray feeder 6). The unit recognizer is provided to identify the component supply unit. The rack mark Ml and the open / close mark Mo may be attached to any of the front surface, the side surface, the upper surface, the rear surface, and the lower surface when viewed from the side recognizing each mark, as long as they are visible from the outside.

A magazine mark Mm is attached to the front surface of the magazine 25 in a state of being inserted into the magazine holding portion 26. The magazine mark Mm includes a barcode on which information for identifying the magazine 25 is recorded, a two-dimensional code, a unique mark, and the like. A tray mark Mp (not shown) is attached to the front surface of the tray 23 in a state of being stored in the tray feeder 6. The tray mark Mp includes a barcode on which information for identifying the tray 23 is recorded, a two-dimensional code, a unique mark, and the like. The magazine mark Mm and the tray mark Mp are on the front surface, the side surface, the upper surface, the rear surface, and the lower surface when viewed from the side recognizing each mark, as long as they are visible from the side recognizing each mark other than the front surface. It may be attached to any of them.

Next, the configuration of the transfer device V will be described with reference to FIG. 7. The transfer device V has a robot mechanism 31 and a storage unit 32 above the carriage unit 30. The carriage portion 30 has a traveling mechanism 33 (see FIG. 8) including a wheel 30a, a motor for driving the wheel 30a, a direction changing mechanism for changing the direction of the wheel 30a, and a sensor for detecting the position and posture of the transfer device V. ing.

The robot mechanism 31 is an articulated robot in which an end effector 34 is arranged at the tip, and the end effector 34 is moved in the X, Y, and Z directions by a plurality of servomotors, and the direction is changed to rotate θ. Let me. The control method of the robot mechanism 31 is not particularly limited, and examples thereof include an impedance control method, a compliance control method, and the like. However, other control methods, a control method combining a plurality of control methods, a control method using AI, and the like can be used. You may use it.

The end effector 34 has a function of gripping (holding) a parts supply device (tape feeder 13, stick feeder 14) or a parts container (part reel 16, stick case 17, tray 23, magazine 25). The end effector 34 may have functions such as holding and suction in addition to gripping as long as it can hold the parts supply device or the parts container. Further, the end effector 34 includes a unit recognition body (trolley mark Mc, mounting part mark Ma, rack mark Ml, open / close mark Mo), a supply device recognition body (tape feeder mark Mt, stick feeder mark Ms), magazine mark Mm, and the like. A mobile camera 35 (imaging unit) that captures images of the tray mark Mp and the like is arranged.

By recognizing various marks captured by the mobile camera 35 by the recognition processing unit 36 (see FIG. 8) included in the transfer device V, the information and positions recorded on the marks are recognized. In this way, the mobile camera 35 (imaging unit) is a recognition unit that recognizes (imaging) the unit recognition body (mark formed on the component supply unit) and the supply device recognition body (mark formed on the component supply device). be. Further, the robot mechanism 31 is a moving mechanism that moves the end effector 34 and the moving camera 35 to align the imaging axis of the moving camera 35 with various marks.

In FIG. 7, a plurality of storage shelves 32a (here, four) are arranged in the storage unit 32 with the side facing the robot mechanism 31 open. A replacement parts supply device (tape feeder 13, stick feeder 14), a parts container (parts reel 16, stick case 17, tray 23, magazine 25) and the like can be placed on the storage shelf 32a. The transfer device V places the replenishment component supply device and the component container taken out from the material storage W on the storage shelf 32a and transports them to the component mounting devices M2 to M4 to be replenished.

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

The mobile camera 35 may have the function of the head camera 37. In that case, the mobile camera 35 is attached at a position where the reel mark Mb attached to the side surface of the component reel 16 can be imaged while the end effector 34 holds the component reel 16. Alternatively, the mobile camera 35 may take an image of the reel mark Mb attached to the upper surface of the component reel 16 with the component reel 16 pulled out from the storage unit 32 by the end effector 34.

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

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

Here, the details of the unit information 40b will be described with reference to FIG. The unit information 40b includes a unit number 50, a unit type 51, a recognition method 52, a reel correction value 53, and a slot correction value 54. The unit number 50 is information that identifies the component supply unit. The unit type 51 is information for specifying the type of the component supply unit. In the unit type 51, the "trolley (17)" and the "trolley (30)" are parts supply carts 5 having slots S in rows 17 and 30, respectively, an upper reel holding portion 5U, and a lower reel holding portion 5B. The "tray (20)" is a tray feeder 6 capable of storing 20 pallets 24.

In the recognition method 52, when determining the working position in the parts supply unit, the unit recognition body (trolley mark Mc, mounting part mark Ma, rack mark Ml, opening / closing) is performed by the moving camera 35 (imaging unit, recognition unit) included in the transfer device V. Information (unit recognition information) that specifies whether to image the mark Mo) or recognize the outer shape of the component supply unit. In the recognition method 52, the “mark” indicates that the imaging target is the unit recognition body, and the “outer shape” indicates that the imaging target is the outer shape of the entire or part of the component supply unit. By designating the recognition method by the recognition method 52 in this way, the same automatic replacement method described later can be applied even to component supply units having different configurations such as the presence or absence of a unit recognition body.

In FIG. 9, the reel correction value 53 is the amount of deviation from the ideal position P0 where the carriage mark Mc is attached to the position P1 actually attached, and is the amount of deviation 53x (ΔX) in the X direction and the deviation in the Z direction. It is indicated by a quantity of 53z (ΔZ) (see FIG. 10). The slot correction value 54 is the amount of deviation from the ideal position where the mounting portion mark Ma is attached to the position where it is actually attached, and the amount of deviation in the X direction is 54x (ΔX) and the amount of deviation in the Z direction is 54z (ΔZ). Indicated by. As described above, the unit type 51, the recognition method 52, the reel correction value 53, and the slot correction value 54 for each component supply unit, including the unit number 50, constitute the unit-specific information 55 that identifies the component supply unit. That is, the unit-specific information 55 includes unit recognition information (recognition method 52).

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

In FIG. 8, the external dimension information 40c includes the parts supply device for each type of the parts supply unit (parts supply carriage 5, tray feeder 6) and each type of parts supply device (tape feeder 13, stick feeder 14). Contains information about the contours used in the automatic replacement of parts containers.

Here, the details of the external dimension information 40c will be described with reference to FIG. FIG. 11 shows information regarding the positions of the lower reel holding portion 5B and the upper reel holding portion 5U in the external dimensional information 40c of the parts supply carriage 5 whose unit type 51 is the “trolley (17)”. The external dimension information 40c includes the holding portion number 56 and the holding portion position 57. The holding part number 56 is information for specifying the lower reel holding part 5B and the upper reel holding part 5U, "B01" to "B17" hold the lower reel holding part 5B, and "U01" to "U17" hold the upper reel. Part 5U is shown. The holding portion position 57 is indicated by the X position 57x and the Z position 57z with the ideal position P0 of the carriage mark Mc attached to the parts supply carriage 5 as a base point (see FIG. 10).

The external dimension information 40c of the unit type 51 “trolley (17)” includes information on the position of the slot S in addition to the holding portion position 57 shown in FIG. 11, and the external size (length, width, depth) of the parts supply carriage 5. Information etc. is also included. The external dimension information 40c of the unit type 51 of the “trolley (30)” includes the same information as the external dimension information 40c of the unit type 51 of the “trolley (17)”. The external dimension information 40c of the unit type 51 "tray (20)" includes information on the position of the rack door 26a, information on the position of the opening / closing cover 27a, information on the outer diameter size of the tray feeder 6, and the like.

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

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

Here, the details of the supply device information 40d will be described with reference to FIG. The supply device information 40d includes a feeder number 60, a feeder type 61, a recognition method 62, and a feeder correction value 63. The feeder number 60 is information that identifies the component supply device. The feeder type 61 is information for specifying the type of the component supply device. In the feeder type 61, the "tape (8 mm)" and the "tape (16 mm)" are tape feeders 13 that convey the component storage tapes 15 having widths of 8 mm and 16 mm, respectively, and the "sticks (10)" are ten. It is a stick feeder 14 that can store the stick case 17.

In the recognition method 62, in determining the working position in the parts supply device, the supply device recognition body (tape feeder mark Mt, stick feeder mark Ms) is imaged by the mobile camera 35 (imaging unit, recognition unit) included in the transfer device V. Information that specifies whether to recognize the outer shape of the parts supply device (supply device recognition information). In the recognition method 62, the “mark” indicates that the imaging target is the supply device recognition body, and the “outer shape” indicates that the imaging target is the outer shape of the component supply device. By designating the recognition method by the recognition method 62 in this way, the same automatic replacement method can be applied even to parts supply devices having different configurations such as the presence / absence of a supply device recognition body.

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

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

In FIG. 8, the work instruction generation unit 41 generates a work instruction including the movement destination of the transfer device V based on the exchange work information 40e. Further, the work instruction generation unit 41 recognizes which unit recognizer attached (formed) to the component supply unit based on the replacement work information 40e and the unit recognition information (recognition method 52). Or generate a work instruction that recognizes the outer shape of the parts supply unit. Further, the work instruction generation unit 41 recognizes any of the supply device recognizers attached (formed) to the component supply device based on the replacement work information 40e and the supply device recognition information (recognition method 62). Or generate a work instruction that recognizes the outer shape of the parts supply device. The work instruction is generated for each work process, and the moving coordinates of the end effector 34 are calculated for each generated process.

Further, the work instruction generation unit 41 of the end effector 34 of the transfer device V based on the replacement work information 40e, the unit-specific information 55, the supply device-specific information 64, and the external dimensional information 40c of the parts supply unit and the parts supply device. Generate work instructions including movement targets. The movement target of the end effector 34 is indicated by the XZ coordinates with the recognized carriage mark Mc as the base point when the carriage mark Mc is recognized when, for example, the component reel 16 is replaced. At that time, the deviation of the position where the dolly mark Mc is attached is corrected based on the reel correction value 53. For example, when the lower reel holding portion 5B having the holding portion number 56 of "B01" at the lower left end of the parts supply carriage 5 of FIG. 10 is the working position, the movement target is corrected as (X1 + ΔX, Z1 + ΔZ) and is instructed.

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

In this way, by correcting the movement target with the correction value stored in advance, the end effector 34 can be moved accurately even if the positions with various marks are deviated from each component supply unit or each component supply device. Can be done. The work instruction generated by the work instruction generation unit 41 is transmitted to the transfer device V that executes the exchange work via the wireless management communication unit 3a. The work instruction generation unit 41 generates a work instruction with a movement target that is not corrected by the correction value, transmits the unit position correction value and the supply device position correction value together with the work instruction, and is a route setting unit described later in the transfer device V. The movement target may be corrected when the 47 sets the movement route.

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

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

The recognition result information 44b includes information recorded on each mark obtained by recognition processing of the image pickup result of the mobile camera 35 (imaging unit, recognition unit) by the recognition processing unit 36, information on the position of each mark, and a head camera. The component information and the like recorded on the reel mark Mb obtained by the recognition processing unit 36 recognizing the imaging result of the 37 are stored. Further, in the recognition result information 44b, the slot S of the parts supply carriage 5 and the upper reel holding portion obtained by the recognition processing unit 36 recognizing the outer shape of the parts supply unit or the parts supply device imaged by the mobile camera 35. Information such as 5U, the position of the lower reel holding portion 5B, the rack door 26a of the tray feeder 6, the position of the opening / closing cover 27a, the position of the tape insertion port 13a of the tape feeder 13, and the position of the loading portion 14a of the stick feeder 14 are also stored. NS.

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

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

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

In this way, the transfer device V controls the end effector 34, the moving mechanism (robot mechanism 31) for moving the end effector 34, the recognition unit (moving camera 35), the route setting unit 47, and the moving mechanism. It has a unit (exchange control unit 46). Then, the management device (management computer 3) having the transfer device V and the work instruction generation unit 41 for generating the work instruction constitutes an automatic exchange system for exchanging at least one of the component supply device and the component container of the component supply unit. do.

Next, along the flow of FIG. 13, referring to FIGS. 14A to 15C, at least one of the component supply device and the component container of the component supply unit is replaced by a transfer device V having a movable end effector 34. The automatic replacement method to be performed will be described. Hereinafter, an example will be described in which a component reel 16 which is a component container is taken out from a component supply carriage 5 (component supply unit) mounted on the component mounting device M2 and replaced. In FIGS. 14A to 15C, the drawing of the robot mechanism 31 of the transfer device V is omitted for convenience.

In FIG. 13, first, the management computer 3 (management device) generates a work instruction in which the front of the parts supply carriage 5 to which the parts reel 16 to be replaced is attached is designated as the transfer destination, and the parts reel 16 to be replenished is set. It is transmitted to the mounted transfer device V. In the transfer device V that has received the work instruction, the traveling control unit 45 moves the transfer device V to the designated transfer destination according to the work instruction (ST1: transfer device movement step). When the movement is completed, the transfer device V transmits to that effect to the management computer 3. Even when the transfer device V is moved to the designated transfer destination, a stop error of several centimeters or several millimeters may occur.

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

In FIG. 13, when the transfer device V receives the work instruction, the transfer device V executes the replacement work according to the work instruction. First, when recognition of various marks is instructed in the work instruction (Yes in ST4), the exchange control unit 46 controls the robot mechanism 31 and places the mobile camera 35 (imaging unit, recognition unit) in front of the trolley mark Mc. (Arrow c1 in FIG. 14A) to recognize the dolly mark Mc (ST5: unit recognition step). That is, the unit recognition body (formed) attached to the appearance of the parts supply unit (parts supply carriage 5) is recognized.

When the recognition of various marks is instructed, the transfer device V may also determine whether it matches the various marks instructed in the work instruction. Let them judge whether the various marks are correct and stop the work if they do not match. By doing so, it is possible to prevent work mistakes caused by the parts supply unit being replaced due to an erroneous work by the operator in advance.

Next, the mobile camera 35 (imaging unit, recognition unit) moves in front of the supply device recognition body (tape feeder mark Mt, stick feeder mark Ms) to recognize the supply device recognition body (ST6: supply device recognition step). Since the work instruction does not include the recognition of the supply device recognition body here, the supply device recognition step (ST6) is skipped. When the work instruction indicates the outer shape recognition (No in ST4), the replacement control unit 46 controls the robot mechanism 31 to recognize the outer shape of the parts supply unit and the parts supply device instructed by the mobile camera 35. (ST7: External shape recognition process).

When the mark recognition (ST5, ST6) or the outer shape recognition (ST7) is completed, the route setting unit 47 then sets a movement route for moving the end effector 34 based on the work instruction and the recognition result (ST8: route). Setting process). As a result, a movement path is set in which the stop error of the transfer device V and the deviation of the parts supply device and the parts container in the parts supply unit are corrected. Next, the replacement control unit 46 controls the robot mechanism 31 based on the set movement path to move the end effector 34 to the part reel 16 to be replaced (arrow c2 in FIG. 14B), and the end effector 34 uses the part reel. 16 is gripped.

In FIG. 13, the replacement control unit 46 then moves the end effector 34 holding the component reel 16 to remove the component reel 16 from the upper reel holding unit 5U (ST9), and rotates the component reel 16 by 90 degrees to store the component reel 32. (Arrow c3 in FIG. 14C) and store it in an empty storage shelf 32a (ST10). Next, the replacement control unit 46 grips the component reel 16 to be replenished on the storage shelf 32a with the end effector 34 and takes it out (ST11) (arrow c4 in FIG. 15A). At that time, the head camera 37 takes an image of the reel mark Mb attached to the component reel 16 and verifies whether the component reel 16 is the designated replenishment target.

Next, the replacement control unit 46 rotates the end effector 34 that grips the component reel 16 by 90 degrees and moves it to the front of the component supply carriage 5 (arrow c5 in FIG. 15B), and the component reel 16 to be replenished is designated as the upper reel. It is attached to the holding portion 5U (ST12) (arrow c6 in FIG. 15C). Next, when the parts reel 16 (parts container) to be replaced remains and the replacement work is not completed (No in ST13), the process returns to the work instruction generation step (ST2) and the replacement work of the next parts reel 16 is executed. Will be done. When the replacement work of all the component reels 16 is completed (Yes in ST13), the automatic replacement is completed.

If the work instructions (first ST2, ST3) generated and transmitted by the management computer 3 include the entire replacement work process, the process returns to ST4 without returning to the work instruction generation process (ST2). The next replacement work is executed. If the necessary information is acquired in the first time, the mark recognition (ST5, ST6) or the outer shape recognition (ST7) in the second and subsequent times is skipped.

As described above, ST9 to ST12 are based on the movement path set in the route setting step (ST8) and the recognition result in the unit recognition step (ST5), the supply device recognition step (ST6), or the outer shape recognition step (ST7). , The moving step of moving the end effector 34 to at least one of the parts supply device and the parts container. That is, the automatic replacement method of the present embodiment includes a unit recognition step (ST5), a route setting step (ST8), and a moving step (ST9 to ST12). As a result, the parts reel 16 (parts container) can be replaced accurately.

In the automatic replacement method shown in FIG. 13, when the parts supply device (tape feeder 13, stick feeder 14) is replaced, the mounting portion mark Ma is recognized in the unit recognition step (ST5). When replacing the tray 23 (parts container) of the tray feeder 6 (parts supply unit), the open / close mark Mo is recognized in the unit recognition step (ST5), and the open / close cover 27a is opened / closed and the pallet is placed in the moving step. Recognition of the tray mark Mp of the tray 23 in the unit 27 by the moving camera 35 (imaging unit, imaging means) is executed.

When replacing the magazine 25 (parts container) of the tray feeder 6 (parts supply unit), the rack mark Ml is recognized in the unit recognition step (ST5), and the rack door 26a is opened and closed and the rack portion 21 is moved in the moving step. The moving camera 35 of the magazine mark Mm of the magazine 25 in the above is recognized. Further, when the component storage tape 15 is inserted into the tape insertion port 13a of the tape feeder 13 after the component reel 16 is replaced, the tape feeder mark Mt is recognized in the supply device recognition step (ST6). Further, when the stick case 17 (parts container) of the stick feeder 14 is replaced, the stick feeder mark Ms is recognized in the supply device recognition step (ST6).

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

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

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

The above description has been described with an example of so-called internal setup in which the parts supply device or the parts container is replaced in the parts supply unit (parts supply carriage 5, tray feeder 6) mounted on the parts mounting devices M2 to M4. Disclosure is not limited to internal setup. For example, in the parts supply unit (parts supply carriage 5, tray feeder 6) removed from the parts mounting devices M2 to M4, it can also be applied to so-called external setup for replacing the parts supply device or the parts container. In that case, the replacement work information 40e specifies a preparation area for performing external setup as the location of the supply target or the replacement target. Further, in the external setup, the parts supply unit may move to the transfer device V fixed to the floor F, and the parts supply device or the parts container may be replaced at the replacement position.

Further, each mark does not have to be composed of one figure. For example, it is composed of a plurality of figures such as an enclosing character, and recognition is performed by the entire mark composed of a plurality of figures, and a specific figure is recognized. May be used as the coordinates for correction.

Next, a second embodiment of the parts supply carriage (hereinafter, referred to as “second parts supply carriage 70”) will be described with reference to FIGS. 16, 17A, and 17B. The second component supply carriage 70 is a component supply unit that has a component accommodator and a component supply device and supplies the component D to the component mounting devices M2 and M3, similarly to the component supply carriage 5 described above. The second parts supply trolley 70 is different from the parts supply trolley 5 in that it has trolley recognition targets G1 and G2 instead of the trolley mark Mc and has mounting portion recognition targets G3 and G4 instead of the mounting portion mark Ma. Hereinafter, the same components as those of the parts supply carriage 5 are designated by the same reference numerals, and detailed description thereof will be omitted.

In FIG. 16, a lower plate 71 extending the XY plane (horizontal plane) in the substrate transport direction (X direction) is installed on the front surface of the lower portion 5a of the second component supply carriage 70. Left and right side plates 72 and 73 extending in the YZ plane are installed at both ends of the lower plate 71 in the X direction so as to extend upward. On the left side of the lower plate 71, a left side plate 72 and a left back plate 74 extending in the ZX plane orthogonal to the lower plate 71 are installed (see also FIG. 17A). The lower plate 71, the left side plate 72, and the left back plate 74 constitute the left carriage recognition target G1. The angle at which the lower plate 71, the left side plate 72, and the left back plate 74 intersect is the position Q1 of the left carriage recognition target G1.

On the right side of the lower plate 71, a right side plate 73 and a right back plate 75 extending in the ZX plane orthogonal to the lower plate 71 are installed. The lower plate 71, the side plate 73 on the right side, and the back plate 75 on the right side constitute the carriage recognition target G2 on the right side. The angle at which the lower plate 71, the right side plate 73, and the right back plate 75 intersect is the position Q2 of the trolley recognition target G2 on the right side.

In FIG. 16, left and right support plates 76 and 77 extending in the YZ plane are installed at both ends of the feeder mounting portion 12 in the X direction so as to extend upward. An upper plate 78 extending in the X direction on the XY plane is installed between the upper part of the support plate 76 on the left side and the upper part of the support plate 77 on the right side. On the left side of the upper plate 78, a support plate 76 on the left side and a back plate 79 on the left side extending in the ZX plane orthogonal to the upper plate 78 are installed (see also FIG. 17B). The upper plate 78, the support plate 76 on the left side, and the back plate 79 on the left side constitute the mounting portion recognition target G3 on the left side. The angle at which the upper plate 78, the left support plate 76, and the left back plate 79 intersect is the position Q3 of the left mounting portion recognition target G3.

On the right side of the upper plate 78, a support plate 77 on the right side and a back plate 80 on the right side extending in the ZX plane orthogonal to the upper plate 78 are installed. The upper plate 78, the support plate 77 on the right side, and the back plate 80 on the right side constitute the mounting portion recognition target G4 on the right side. The angle at which the upper plate 78, the support plate 77 on the right side, and the back plate 80 on the right side intersect is the position Q4 of the mounting portion recognition target G4 on the right side.

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

Next, a second embodiment of the transfer device (hereinafter referred to as “second transfer device V1”) will be described with reference to FIG. Similar to the above-described transfer device V, the second transfer device V1 has a robot mechanism 31 and a storage unit 32 above the carriage portion 30, and an end effector 34 is arranged at the tip of the robot mechanism 31. The second transfer device V1 is different from the transfer device V in that the contact sensor 81 is installed at the tip of the end effector 34. Hereinafter, the same components as those of the transfer device V are designated by the same reference numerals, and detailed description thereof will be omitted.

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

Next, with reference to FIGS. 19A to 19C, the tape feeder 13 which is a parts supply device in which the second transfer device V1 is mounted on the second parts supply carriage 70 (parts supply unit) and the parts reel 16 which is a parts container The unit recognition step (ST5), which is executed when the reels are automatically replaced, will be described. Here, it is assumed that the transfer device moving step (ST1) for moving the second transfer device V1 in front of the second parts supply carriage 70 according to the work instruction has been completed. That is, it is assumed that the second transfer device V1 and the second parts supply carriage 70 have the same positional relationship as the transfer device V and the parts supply carriage 5 shown in FIGS. 14A to 15C.

In the following, an example of recognizing the dolly recognition target G1 on the left side will be described. That is, in the work instruction generation step (ST2), the work instruction generation unit 41 issues a work instruction including information on the unit recognizer that designates the left trolley recognition target G1 as the recognition target recognized by the contact sensor 81 (recognition unit). It is generating. Then, in the unit recognition step (ST5), the exchange control unit 46 controls the robot mechanism 31 to move the contact sensor 81 in front of the trolley recognition target G1 on the left side, execute the contact detection operation described later, and perform the contact detection operation on the left side. The position Q1 of the dolly recognition target G1 is recognized.

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

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

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

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

As described above, the carriage recognition targets G1 and G2 and the mounting portion recognition targets G3 and G4 are contacted bodies (unit recognition bodies) formed in the component supply unit (second component supply carriage 70). Further, the contact sensor 81 is a detection unit (recognition unit) that moves together with the end effector 34 to detect contact with the contacted body. The recognition result by the contact sensor 81 (recognition unit) is the position (positions Q1 to Q4) where the detection unit is in contact with the contacted body.

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

Here, the distance detection operation will be described with reference to FIG. In the distance detection operation, after the contact sensor 81 detects the position Q1 of the trolley recognition target G1 on the left side by the contact detection operation, the exchange control unit 46 controls the robot mechanism 31 and the side surface of the contact sensor 81 is attached to the lower plate 71. The contact sensor 81 is moved in the X direction toward the right side plate 73 while being brought into contact with each other (arrow e1). When it is detected that the side surface of the contact sensor 81 has come into contact with the side plate 73 on the right side, the exchange control unit 46 stops the movement of the contact sensor 81 in the X direction.

By this distance detection operation, the contact sensor 81 stops at an angle where the lower plate 71, the right side plate 73, and the right back plate 75 intersect. Next, the recognition processing unit 36 calculates the distance R moved after the contact sensor 81 detects the position Q1 of the trolley recognition target G1 on the left side. Further, the recognition processing unit 36 calculates (recognizes) the position Q2 of the trolley recognition target G2 on the right side from the position Q1 of the trolley recognition target G1 on the left side and the distance R moved by the contact sensor 81. By the distance detection operation, the time for recognizing the position Q2 of the dolly recognition target G2 on the right side can be shortened.

In FIG. 20, the recognition of the position Q4 of the mounting portion recognition target G4 on the right side in the supply device recognition step (ST6) may also be performed by combining the contact detection operation and the distance detection operation. That is, after recognizing the left mounting portion recognition target G3, the contact sensor 81 is moved in the X direction along the upper plate 78 (arrow e2), and the right mounting portion recognition target is moved based on the distance moved by the contact sensor 81. The position Q4 of G4 may be calculated. According to the recognition result by the contact sensor 81 (recognition unit) in the distance detection operation, the detection unit (contact sensor 81) moves until it comes into contact with the contacted body (the trolley recognition target G2 on the right side and the mounting part recognition target G4 on the right side). The distance is included.

In the above, the contacted body to be detected by the contact sensor 81 (detection unit) is formed on the carriage recognition targets G1 and G2 formed on the lower portion 5a of the second component supply carriage 70 and the feeder mounting portion 12. Although it was the mounting portion recognition targets G3 and G4, a recognition target (contacted body) may be formed on another object and detected (recognized) by the contact sensor 81. For example, instead of the tape feeder mark Mt formed on the tape feeder 13 and the stick feeder mark Ms formed on the stick feeder 14, a recognition target is formed as a feeder recognizer, and the contact sensor 81 detects the position of the component feeder. You may try to (recognize).

The automatic replacement system, the management device, and the automatic replacement method of the present disclosure have an effect that the component container can be accurately replaced, and are useful in the field of mounting components on a substrate.

1 Parts mounting system 2 Communication network 3 Management computer 3a Wireless management Communication unit 4 Parts supply unit 5 Parts supply trolley 5a Lower 5B Lower reel holder 5U Upper reel holder 6 Tray feeder 7 Base 8 Board transfer mechanism 9 Board 10 Mounting head 10a Suction nozzle 12 Feeder mounting part 13 Tape feeder 13a Tape insertion port 14 Stick feeder 14a Loading part 15 Parts storage tape 16 Parts reel 17 Stick case 18 Mounting control unit 20 Feeder mounting part 21 Rack part 22 Pallet moving part 23 Tray 24 Pallet 25 Magazine 26 Magazine holding part 26a Rack door 27 Pallet mounting part 27a Opening / closing cover 28 Pallet mounting base 28a Extraction mechanism 29 Lifting mechanism 30 Cart part 30a Wheels 31 Robot mechanism (moving mechanism)
32 Storage unit 32a Storage shelf 33 Travel mechanism 34 End effector 35 Mobile camera (recognition unit)
36 Recognition processing unit 37 Head camera 40 Management storage unit 40a Part information 40b Unit information 40c External dimension information 40d Supply device information 40e Replacement work information 41 Work instruction generation unit 42 Management input unit 43 Management display unit 44 Transfer storage unit 44a Work instruction information 44b Recognition result information 45 Travel control unit 46 Exchange control unit 47 Route setting unit 50 Unit number 51 Unit type 52, 62 Recognition method 53 Reel correction value 53x, 54x, 63x X-direction deviation amount 53z, 54z, 63z Z-direction deviation Quantity 54 Slot correction value 55 Unit-specific information 56 Holding part number 57 Holding part position 57x X position 57z Z position 60 Feeder number 61 Feeder type 63 Feeder correction value 64 Supply device-specific information 70 Second parts Supply carriage 71 Lower plates 72, 73 Side plate 74, 75, 79, 80 Back plate 76, 77 Support plate 78 Top plate 81 Contact sensor D Part E Parts supply position G1, G2 Cart recognition target G3, G4 Mounting part recognition target Ma Mounting part mark Mc Carriage mark Ml Rack mark Mo Open / Close Mark Ms Stick Feeder Mark Mt Tape Feeder Mark T Wireless Communication Unit V Transfer Device V1 Second Transfer Device

Claims (15)

At least one of the parts supply device and the parts container of the parts supply unit including the parts container for accommodating the parts and the parts supply device for moving the parts housed in the parts container to the parts supply position. It is an automatic exchange system that exchanges
An end effector that holds the parts supply device or the parts container,
A movement mechanism configured to move the end effector,
A recognition unit provided in the component supply unit and recognizing a unit recognition body for identifying the component supply unit.
A route setting unit that sets a movement route for moving the end effector,
A transfer device having a control unit for controlling the movement mechanism is provided.
The control unit moves the end effector to at least one of the component supply device and the component container based on the set movement path and the recognition result by the recognition unit.
Automatic exchange system. A management device having a work instruction generation unit that generates a work instruction including a movement target of the end effector based on the external dimensional information of the component supply unit is further provided.
The route setting unit sets the movement route based on the work instruction.
The automatic exchange system according to claim 1. The work instruction generation unit generates the work instruction so as to further include information on the unit recognizer recognized by the recognition unit.
The automatic exchange system according to claim 2. The work instruction generation unit
A unit position correction value for correcting the movement target of the end effector based on the position deviation of the unit recognition body, and a unit position correction value.
Based on the positional deviation of the supply device recognition body for identifying the component supply device provided in the component supply device, a supply device position correction value for correcting the movement target of the end effector, and a supply device position correction value for correcting the movement target of the end effector.
The movement target of the end effector is corrected based on at least one of the above, and the work instruction including the corrected movement target is generated.
The automatic exchange system according to claim 2. The component supply device is provided with a supply device recognition body for identifying the component supply device.
The recognition unit further recognizes the supply device recognition body, and the recognition unit further recognizes the supply device recognition body.
The control unit moves the end effector to the component supply device based on the set movement path and the recognition result of the supply device recognition body by the recognition unit.
The automatic exchange system according to claim 1. The unit recognition body is a mark formed on the component supply unit, and is a mark formed on the component supply unit.
The recognition unit is an imaging unit that captures the mark.
The automatic exchange system according to claim 1. The unit recognition body is a contacted body formed on the component supply unit, and is a contacted body.
The recognition unit is a detection unit that moves together with the end effector to detect contact with the contacted body.
The automatic exchange system according to claim 1. The recognition result is the position where the detection unit is in contact with the contacted body.
The automatic exchange system according to claim 7. The recognition result includes the distance traveled by the detection unit until it comes into contact with the contacted body.
The automatic exchange system according to claim 7. At least one of the component supply device and the component container of the component supply unit including the component container for accommodating the component and the component supply device for moving the component housed in the component container to the component supply position. A management device that generates work instructions for a transfer device with a movable end effector to be replaced.
A storage unit that stores external dimensional information of the component supply unit,
A work instruction generation unit that generates a work instruction including a movement target of the end effector based on the external dimension information of the component supply unit stored in the storage unit is provided.
Management device. At least one of the component supply device and the component container of the component supply unit including the component container for accommodating the component and the component supply device for moving the component housed in the component container to the component supply position. It is an automatic replacement method that is replaced by a transfer device equipped with a movable end effector.
A step of recognizing a unit recognizer provided in the component supply unit for identifying the component supply unit, and
A step of setting a movement route for moving the end effector, and
A step of moving the end effector to at least one of the component supply device and the component accommodator based on the set movement path and the recognition result of the unit recognizer is provided.
Automatic replacement method. Further including a step of generating a work instruction including a movement target of the end effector based on the external dimensional information of the component supply unit.
The movement route is set based on the work instruction.
The automatic replacement method according to claim 11. Generate the work instruction so as to include the information of the recognition target of the recognition unit.
The automatic exchange method according to claim 12. A unit position correction value for correcting the movement target of the end effector based on the position deviation of the unit recognition body, and a unit position correction value.
Based on the positional deviation of the supply device recognition body for identifying the component supply device provided in the component supply device, a supply device position correction value for correcting the movement target of the end effector, and a supply device position correction value for correcting the movement target of the end effector.
The movement target of the end effector is corrected based on at least one of the above, and the work instruction including the corrected movement target is generated.
The automatic exchange method according to claim 12. The component supply device is further provided with a step of recognizing a supply device recognizer for identifying the component supply device.
The end effector is moved to the component supply device based on the set movement path and the recognition result of the supply device recognition body.
The automatic replacement method according to claim 11.

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