JPWO2020115828A1 - Traveling device - Google Patents

Abstract

The traveling device uses a movable portion provided so as to be able to travel along the traveling path, electric power provided in the movable portion by non-contact power supply from the outside, or electric power supplied from a battery mounted on the movable portion. A drive unit that runs the movable part, a grounded state in which the movable part is electrically grounded in contact with the fixed part on the traveling path side, and the movable part is electrically grounded as non-contact with the fixed part. It is provided with a switching device for switching between ungrounded and ungrounded states. [Selection diagram] Fig. 3

Description

The present invention relates to a traveling device.

The traveling device is used for a predetermined operation such as transporting an object. Patent Document 1 discloses an exchange device including a traveling device for transporting a feeder as an object and exchanging the feeder with a component mounting machine. There is a type of traveling device that travels by electric power supplied by non-contact power supply from the outside or electric power supplied from a battery without going through a power cable. The above-mentioned type of traveling device includes a grounding device that grounds to the outside by using, for example, a spring or a brush. As a result, the traveling device is trying to eliminate the charged state of the device body due to static electricity or the like.

International Publication No. 2014/010083

However, when the traveling device travels with the spring, brush, or the like in contact with the outside, sliding resistance is generated between the traveling device and the outside. As a result, the load during running increases, and regular maintenance is required due to wear of the sliding portion. There is a demand for the traveling device to appropriately eliminate the charged state and improve maintainability.

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

The present specification is driven by a movable portion provided so as to be able to travel along a traveling path, electric power provided in the movable portion and supplied by non-contact power supply from the outside, or electric power supplied from a battery. The drive unit for traveling the movable portion and the grounded state in which the movable portion is electrically grounded to the fixed portion on the traveling path side provided on the movable portion and the non-grounded state in which the movable portion is not grounded are switched. A traveling device including a switching device is disclosed.

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

It is a perspective view which shows the production line which applied the traveling apparatus in embodiment. It is a perspective view which shows the outline of the structure of the traveling device and the component mounting machine in FIG. It is a side view which shows the traveling device in FIG. It is a flowchart which shows the switching process which switches between the grounded state and the non-grounded state of a traveling device.

1. 1. Outline of the traveling device Hereinafter, an embodiment in which the traveling device is embodied will be described with reference to the drawings. The traveling device constitutes an exchange system for transporting an object. The replacement system targets at least one of the various replacement elements mounted on the component mounting machine and exchanges the replacement elements with the component mounting machine. In the present embodiment, an embodiment in which an exchange system having a traveling device is applied to a production line composed of a plurality of component mounting machines will be illustrated.

2. Configuration of Production Line 1 As shown in FIG. 1, the production line 1 is configured by installing a plurality of component mounting machines 10 side by side in the transport direction of the substrate 90 (see FIG. 2). A feeder storage device 5 used for storing the cassette type feeder 20 is installed on the substrate carry-in side (left side in FIG. 1) of the production line 1. Further, the production line 1 may include, for example, a screen printing machine, an inspection machine, a reflow furnace, and the like.

In the present embodiment, the traveling device 50 as a working device that performs predetermined work on each of the plurality of component mounting machines 10 and the feeder storage device 5 is applied to the production line 1. Each device and the traveling device 50 constituting the production line 1 are configured to be able to input / output various data to / from the management device 6 via a network (not shown). The detailed configuration of the traveling device 50 will be described later.

The feeder storage device 5 has a plurality of slots. The feeder storage device 5 stocks feeders 20 equipped in each of the plurality of slots. The feeder 20 installed in the slot of the feeder storage device 5 is in a state of being able to communicate with the management device 6. As a result, the slot of the feeder storage device 5 and the identification code (ID) of the feeder 20 installed in the slot are associated with each other and recorded in the management device 6.

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

3. 3. Configuration of the component mounting machine 10 As shown in FIG. 2, the plurality of component mounting machines 10 constituting the production line 1 include a substrate transfer device 11, a component supply device 12, and a head drive device 13. In the following description, the horizontal width direction of the component mounting machine 10, the transport direction of the substrate 90 is the X direction, the horizontal depth direction of the component mounting machine 10 is the Y direction, and the vertical direction perpendicular to the X direction and the Y direction (FIG. The vertical direction of 2) is the Z direction.

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

The component supply device 12 supplies components to be mounted on the substrate 90. The component supply device 12 has an upper slot 121 and a lower slot 122 that can be equipped with the feeder 20. The upper slot 121 is arranged in the upper part on the front side of the component mounting machine 10 and holds the equipped feeder 20 operably. That is, the operation of the feeder 20 mounted in the upper slot 121 is controlled in the mounting process by the component mounting machine 10, and the components are supplied by the take-out portion provided at the specified position on the upper portion of the feeder 20.

The lower slot 122 is located below the upper slot 121 and stocks the equipped feeder 20. That is, the lower slot 122 preliminarily holds the feeder 20 used for production, or temporarily holds the used feeder 20 used for production. The feeder 20 is replaced between the upper slot 121 and the lower slot 122 by automatic replacement by the traveling device 50, which will be described later, or manual replacement by the operator.

Further, when the feeder 20 is installed in the upper slot 121 or the lower slot 122 of the component supply device 12, electric power is supplied from the component mounting machine 10 via the connector. Then, the feeder 20 is in a state of being able to communicate with the component mounting machine 10. The feeder 20 installed in the upper slot 121 controls the feeding operation of the carrier tape accommodating the parts based on a control command or the like by the parts mounting machine 10. As a result, the feeder 20 supplies the parts so that the parts can be collected by the holding member of the mounting head 30, which will be described later, at the take-out portion provided on the upper portion of the feeder 20.

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

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

The component mounting machine 10 having the above configuration executes a mounting process for mounting the components on the substrate 90. In the mounting process, the component mounting machine 10 sends a control signal to the head drive device 13 based on the result of image processing, the detection result by various sensors, the control program stored in advance, and the like. As a result, the positions and angles of the plurality of suction nozzles supported by the mounting head 30 are controlled.

The suction nozzle held by the mounting head 30 is appropriately changed according to the type of the component mounted on the substrate 90 in the mounting process. When the suction nozzle used in the mounting process to be executed is not held by the mounting head 30, the component mounting machine 10 causes the mounting head 30 to hold the suction nozzle housed in the nozzle station (not shown). The nozzle station is detachably installed at a predetermined position in the component mounting machine 10.

4. Configuration of Replacement System 40 and Traveling Device 50 The replacement system 40 includes a first rail 41, a second rail 42, and a traveling device 50, as shown in FIGS. 1 to 3. As shown in FIG. 1, the first rail 41 and the second rail 42 are fixed portions provided on the front portions of the plurality of component mounting machines 10. In the present embodiment, the first rail 41 and the second rail 42 are formed of an electric conductor and form a traveling path of the traveling device 50.

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

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

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

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

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

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

The power receiving portions 52 are provided on the bracket 511 so as to form a pair on the outer side of the traveling roller 514 in the Y direction. In the present embodiment, each of the pair of power receiving units 52 is a power receiving coil extending in the X direction. The power receiving unit 52 faces any of the power transmitting units 45 provided on the first rail 41 regardless of the position of the movable unit 51 in the X direction. As a result, the power transmission unit 45 and the power reception unit 52 are close to each other and magnetically coupled to form a circumferential magnetic path jointly. In this way, the power receiving unit 52 can receive electric power from the power transmitting unit 45 by the non-contact power supply of the electromagnetic coupling method. The electric power received by the power receiving unit 52 is supplied to the driving unit 53, the working robot 55, the control device 58, and the like via the power receiving circuit.

The drive unit 53 is provided on the movable unit 51. The drive unit 53 is driven by the electric power supplied by the non-contact power supply from the outside or the electric power supplied from the battery to drive the movable unit 51. In the present embodiment, the drive unit 53 is driven by the electric power supplied by the non-contact power supply from the power transmission unit 45 outside the traveling device 50 to drive the movable unit 51. More specifically, a moving coil 531 is used for the drive unit 53.

The moving coil 531 of the drive unit 53 is arranged so as to face the magnet 43 of the first rail 41. The drive unit 53 induces a magnetic pole in the core of the moving coil 531 by supplying power to the moving coil 531. As a result, the drive unit 53 generates a propulsive force in the X direction with the magnet 43. As described above, the drive unit 53 is combined with the magnets 43 provided side by side with the first rail 41, which is a fixed unit, to form a linear motor.

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

The work robot 55 is provided on the movable portion 51 and performs a predetermined work. The above-mentioned "predetermined work" includes a work of exchanging a replacement element detachably mounted on a board-to-board work machine such as the component mounting machine 10 with the board-to-board work machine. In the present embodiment, the work robot 55 uses the feeder 20 for supplying the parts to be mounted on the substrate 90 as an exchange element, and is used between the plurality of component mounting machines 10 constituting the production line 1 and the feeder storage device 5. The feeder 20 is exchanged between them. The above replacement process includes at least one of recovery and replenishment of the feeder 20.

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

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

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

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

Here, the traveling device that travels using electric power as described above and performs a predetermined operation may be charged by static electricity or electric leakage. When the traveling device is charged, there is a risk of unexpected discharge to the maintenance operator and the internal circuit. When the traveling device is of a type in which power is supplied from the outside using a power cable or the like, it is easy to eliminate the charged state by grounding the traveling device to the outside via the power cable.

On the other hand, in the case where the traveling device is a type that is non-contact power supply from the outside without using a power cable or is supplied from a battery mounted on the traveling device, for example, a spring or a brush is used to always ground the outside. A configuration with a device is adopted. According to such a grounding device, even if the traveling device is charged, the charged state is suitably eliminated by the grounding device. However, in the above-mentioned grounding device, when the traveling device travels with the spring or the like in contact with the outside, sliding resistance is generated between the traveling device and the outside.

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

As shown in FIG. 3, the switching device 60 is provided in the movable portion 51. The switching device 60 has an arm 61 and an actuator 62. The arm 61 is formed of an electric conductor. One end of the arm 61 is rotatably provided on the bracket 511 of the movable portion 51 around the central axis Ar. The actuator 62 is moved in a direction in which the arm 61 is brought into contact with the first rail 41 as a fixing portion. Specifically, the actuator 62 rotates the arm 61 around the central axis Ar according to the power supply state.

The switching device 60 brings the movable portion 51 into a grounded state by bringing the arm 61 into contact with the first rail 41. Further, the switching device 60 puts the movable portion 51 in a non-grounded state by separating the arm 61 from the first rail 41. The above-mentioned "grounded state" means a state in which the movable portion 51 is electrically grounded on the first rail 41. Further, the "non-grounded state" switches the non-grounded state in which the movable portion 51 is not grounded.

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

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

In the present embodiment, the switching device 60 is configured to be able to execute the switching process of switching between the grounded state and the non-grounded state independently of the operation of the drive unit 53. The switching device 60 may adopt either a configuration in which the switching process is executed in conjunction with the operation of the drive unit 53 or a configuration in which the switching process is executed in consideration of predetermined conditions in a complex manner.

For example, the switching device 60 may switch between a grounded state and a non-grounded state according to the traveling state of the movable portion 51. The "running state" may include the speed of the movable portion 51. Specifically, the switching device 60 switches to the grounded state when the speed of the movable portion 51 indicating the traveling state of the movable portion 51 is equal to or less than the specified speed, and is not when the speed of the movable portion 51 exceeds the specified speed. Switch to the grounded state. The speed of the movable portion 51 is calculated based on the amount of change in the position detected by the position detection unit 54.

According to such a configuration, the charged state can be surely eliminated in the traveling state (stopping or the like) in which the operator may come into contact with the movable portion 51, and the safety can be improved. On the other hand, during normal running, the non-grounded state can prevent contact with the fixed portion and reliably prevent an increase in load during running. Further, it is assumed that the movable portion 51 is mainly stopped for maintenance by the operator. Therefore, the configuration for switching between the grounded state and the non-grounded state of the movable portion 51 with the traveling state as the speed of the movable portion 51 is particularly efficient.

Further, the switching device 60 may switch between the grounded state and the non-grounded state according to a command input from the outside. Specifically, the switching device 60 switches to the grounded state when a stop command is given to the traveling device 50 from the outside such as the management device 6, and switches to the non-grounded state when the stop command is released. The command input from the outside may be a signal input from the maintenance switch 56. That is, the switching device 60 may be switched to the grounded state in the maintenance mode and may be switched to the non-grounded state in the operation mode.

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

Further, the switching device 60 may switch between the grounded state and the non-grounded state according to the detection result of the motion sensor 57. Specifically, the switching device 60 is switched to the grounded state when the operator is close to the traveling device 50 to some extent by the motion sensor 57, and is not when the operator is separated from the traveling device 50 by a certain degree or more. Switch to the grounded state.

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

The above-mentioned switching modes can be applied in combination, and may be configured according to their respective priorities. That is, in the switching device 60, for example, when there is a stop command from the management device 6 or when the operator is close enough to come into contact with the traveling device 50, is the speed of the movable portion 51 equal to or lower than the specified speed? Regardless of whether or not, it is forcibly switched to the grounded state. According to such a configuration, a sliding resistance is generated between the arm 61 and the first rail 41 to increase the load during traveling, and even if the traveling device is in a charged state, this is surely performed. This can be eliminated and the safety of workers performing maintenance can be improved.

5. Switching process between the grounded state and the non-grounded state The switching process for switching between the grounded state and the non-grounded state of the movable portion 51 by the traveling device 50 will be described with reference to FIG. The control device 58 executes the above switching process at regular intervals, for example, during a period in which the power of the traveling device 50 is turned on. The control device 58 first acquires the traveling state of the movable portion 51 (S11). Here, the control device 58 acquires the current speed Vc of the movable portion 51 as a traveling state.

Next, when the current speed Vc of the movable portion 51 is equal to or less than the specified speed Vp (Vc ≦ Vp, S12: Yes), the control device 58 switches the movable portion 51 to the grounded state by the switching device 60 (S21). Specifically, the switching device 60 rotates the arm 61 on one side (counterclockwise in FIG. 3) around the central axis Ar by cutting off the power supply to the actuator 62, and causes the arm 61 to be the first rail. Contact 41. As a result, the movable portion 51 is in a grounded state electrically connected to the first rail 41 via the arm 61.

Further, when the current speed Vc exceeds the specified speed Vp (Vc> Vp, S12: No), the control device 58 determines the presence / absence of an external command (S13). Specifically, when the control device 58 is switched to the maintenance mode by a stop command from the management device 6 or the like and an operation on the maintenance switch 56 (S13: Yes), the current speed Vc of the movable unit 51 is set. Regardless, the switching device 60 switches the movable portion 51 to the grounded state (S21). The control device 58 maintains the ground contact state of the movable portion 51 until the travel permission is given by the management device 6 or the like, the maintenance mode is released by operating the maintenance switch 56, or the like.

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

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

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

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

7. Modifications of the embodiment 7-1. Switching process In the embodiment, the switching device 60 is configured to switch between a grounded state and a non-grounded state according to the traveling state of the movable portion 51. Further, the above-mentioned traveling state is the speed of the movable portion 51, and the mode in which the speed is calculated based on the amount of change in the position detected by the position detecting unit 54 is exemplified. On the other hand, the speed of the movable portion 51 may be acquired by various modes in addition to being based on the detection result by the position detection unit 54. Further, the speed of the movable unit 51 may be estimated from the power consumption of the drive unit 53, or the power consumption itself may be set as the traveling state of the movable unit 51.

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

Further, the arm 61 of the switching device 60 may be a structure in which the arm 61 has elasticity in addition to the rod shape. Further, the fixed portion with which the arm 61 contacts in the grounded state of the movable portion 51 may adopt various modes as long as it is an electric conductor whose voltage is at the ground level other than the first rail 41. Even in such a configuration, the same effect as that of the embodiment is obtained.

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

At this time, the traveling device 50 may switch the movable portion 51 to the grounded state by the switching device 60. The power cable of the traveling device 50 is disconnected before the traveling device 50 shifts to the traveling state, and the switching device 60 appropriately switches between the grounded state and the non-grounded state of the movable portion 51 in the traveling state. Even in such a configuration, the same effect as that of the embodiment is obtained. The overall weight of the traveling device 50 can be reduced when the traveling device 50 travels by the electric power supplied by the non-contact power supply as illustrated in the embodiment, as compared with the configuration in which the battery is mounted. As a result, the running performance of the traveling device 50 can be improved.

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

7-3. In another embodiment, the replacement element to be replaced by the replacement system 40 and the traveling device 50 is a feeder 20 that is mounted on the component mounting machine 10 and supplies components to be mounted on the substrate 90. On the other hand, in the exchange system 40 and the traveling device 50, something other than the feeder 20 may be used as an exchange element. Specifically, for example, a tape reel, a nozzle station, a waste tape collection container, etc., which are replaceably equipped in the component mounting machine 10, can be exchange elements.

There is a type of feeder in which a reel holder for holding a tape reel is arranged externally. Therefore, the traveling device 50 automatically replaces the tape reel of the feeder, so that the tape reel can be accurately delivered. In addition, the nozzle station needs to hold suction nozzles corresponding to the types of parts used in the production of substrate products. Therefore, by arranging a storage device for the nozzle station on the production line 1 and making it possible to automatically replace the nozzle station between the storage device and the component mounting machine 10, the production efficiency on the production line 1 can be improved.

Further, the waste tape collection container is a container that is installed below the upper slot 121 of the parts mounting machine 10, for example, and collects waste tape generated when each feeder 20 supplies parts. This waste tape is, for example, a carrier tape obtained by cutting a portion of a carrier tape from which a part has been taken out to an appropriate length. The capacity of the waste tape collection container is limited. Therefore, it is useful to maintain the amount of waste tape collected by the waste tape collection container, for example, below a certain level by using the traveling device 50 from the viewpoint of maintaining a good production state.

In addition, when the feeder 20 is a stick feeder, the traveling device 50 may be configured to supply sticks and collect empty sticks. Further, when the feeder 20 is a bulk feeder, the traveling device 50 may be configured to supply bulk parts, supply a part case for accommodating the bulk parts, and collect an empty part case. Even in such a configuration, the replacement element can be automatically replenished and collected, and the production efficiency in the production line 1 can be improved.

Further, in the embodiment, the traveling device 50 is configured to include a working robot 55 for exchanging the feeder 20. In such a configuration, the electric power used to drive the work robot 55 also needs to be supplied by a non-contact power supply or an on-board battery. Therefore, the traveling device 50 is likely to be in a charged state, and there is a high need to protect the control board of the work robot 55 and the like. Therefore, a configuration in which the switching device 60 is applied to such a traveling device 50 is particularly useful. On the other hand, the traveling device 50 may be configured to include a working robot having a function different from that for replacement, or may be configured not to include a working robot.

In the embodiment, a configuration in which a traveling device is applied to a production line for producing a substrate product is illustrated. According to such a configuration, if the production line is not completely unmanned, it is particularly useful to operate the traveling device 50 provided with the switching device 60 from the viewpoint of further improving the safety of the operator. be. Further, the component mounting machine 10 is required to automate the replacement work and improve the maintainability, and the embodiment illustrated in the embodiment is particularly useful. On the other hand, the traveling device can be applied to a production line other than the substrate product, or various work lines for transporting an object.

1: Production line, 10: Parts mounting machine, 20: Feeder (replacement element), 40: Replacement system, 41: First rail (fixed part), 43: Magnet, 44: Linear scale, 50: Traveling device, 51: Movable part, 52: Power receiving part, 53: Drive part, 54: Position detection part, 55: Work robot, 56: Maintenance switch, 57: Motion sensor, 58: Control device, 60: Switching device, 61: Arm, 62 : Actuator, 90: Substrate, Vc: Current speed, Vp: Specified speed

Claims (12)

Movable parts that can run along the road and
A drive unit provided on the movable portion and running the movable portion using electric power supplied by non-contact power supply from the outside or electric power supplied from a battery mounted on the movable portion.
A grounded state in which the movable portion is provided on the movable portion and is in contact with the fixed portion on the traveling path side and the movable portion is electrically grounded, and a non-contact state in which the movable portion is not electrically grounded as non-contact with the fixed portion. A switching device that switches the grounding state and
A traveling device. The traveling device according to claim 1, wherein the switching device switches between the grounded state and the non-grounded state according to the traveling state of the movable portion. The switching device switches to the grounded state when the speed of the movable part indicating the traveling state of the movable part is equal to or less than the specified speed, and when the speed of the movable part exceeds the specified speed, the non-grounded part is not grounded. The traveling device according to claim 2, which switches to a state. The traveling device according to any one of claims 1-3, wherein the switching device switches between the grounded state and the non-grounded state in response to a command input from the outside. The traveling device further includes a motion sensor provided on the movable portion.
The traveling device according to any one of claims 1-4, wherein the switching device switches between the grounded state and the non-grounded state according to the detection result of the motion sensor. The switching device has an arm provided on the movable portion and formed of an electric conductor.
The switching device is brought into the grounded state by bringing the arm into contact with the fixed portion, and is brought into the non-grounded state by separating the arm from the fixed portion, according to any one of claims 1-5. The traveling device described. The traveling device according to claim 6, wherein the switching device further includes an actuator that moves the arm in a direction of contacting the fixed portion. The traveling device according to any one of claims 1-7, wherein the driving unit is driven by electric power supplied by non-contact power supply from the outside to drive the movable unit. The traveling device according to any one of claims 1-8, wherein the driving unit constitutes a linear motor in combination with magnets provided side by side with the fixed unit. The movable portion is formed of an electric conductor and is provided so as to be able to travel along a rail constituting the traveling path.
The traveling device according to any one of claims 1-9, wherein the switching device switches between the grounded state and the non-grounded state by using the rail as the fixed portion. The traveling device according to any one of claims 1-10, wherein the traveling device is provided on the movable portion and further includes a working robot that performs a predetermined work. The traveling device is applied to a production line in which a plurality of anti-board working machines are installed side by side.
The traveling device according to claim 11, wherein the work robot performs a work of exchanging a predetermined exchange element with the anti-board work machine by exchanging an exchange element detachably mounted on the anti-board work machine with the anti-board work machine.

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