WO2018127965A1 - Système de commutation automatique de ligne d'alimentation de ligne d'encapsulation de composants - Google Patents

Système de commutation automatique de ligne d'alimentation de ligne d'encapsulation de composants Download PDF

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Publication number
WO2018127965A1
WO2018127965A1 PCT/JP2017/000218 JP2017000218W WO2018127965A1 WO 2018127965 A1 WO2018127965 A1 WO 2018127965A1 JP 2017000218 W JP2017000218 W JP 2017000218W WO 2018127965 A1 WO2018127965 A1 WO 2018127965A1
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WO
WIPO (PCT)
Prior art keywords
feeder
component mounting
automatic
component
mounting table
Prior art date
Application number
PCT/JP2017/000218
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English (en)
Japanese (ja)
Inventor
英俊 川合
規生 細井
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2018560295A priority Critical patent/JP6751445B2/ja
Priority to PCT/JP2017/000218 priority patent/WO2018127965A1/fr
Publication of WO2018127965A1 publication Critical patent/WO2018127965A1/fr

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02—Feeding of components

Definitions

  • the present specification provides an automatic feeder replacement system for a component mounting line, which includes an automatic replacement device that automatically replaces a feeder mounted on a feeder mounting table of a plurality of component mounting machines arranged along a circuit board conveyance direction.
  • the technique regarding is disclosed.
  • This kind of component mounting line feeder automatic exchange system is based on the arrangement of a plurality of component mounting machines constituting the component mounting line, as described in Patent Document 1 (International Publication WO2014 / 010083).
  • An automatic changer (exchange robot) is movably installed in the moving lane provided, and the automatic changer is moved to the front of the component mounter instructed by a production job (production program), etc.
  • the feeder mounted on the feeder mounting table is automatically replaced.
  • the rotation angle of the motor as a drive source for moving the automatic exchange device is detected by an encoder or the like, and the movement of the automatic exchange device is based on the detected value.
  • the moving position of the automatic changer is controlled by measuring the distance.
  • a plurality of component mounters are arranged in a transport path for transporting a circuit board, and the plurality of component mounters are mounted on a feeder mount base of each component mounter.
  • a feeder automatic exchange system for a component mounting line for mounting a component to be supplied on the circuit board, the component is moved along an array of the plurality of component mounting machines and placed on a feeder mounting table of each of the component mounting machines.
  • a detection unit provided so as to detect the reference position unit, and the automatic changer is configured such that the detection unit detects a reference position unit of a feeder mounting table of each of the component mounters during movement. Wherein based on the is obtained so as to control the moving position of the automatic changer for feeder table of each component mounting apparatus.
  • the detecting portion of the automatic changing device since the reference position portion is provided for each feeder mounting table of each component mounting machine, when the automatic changing device moves along the arrangement of a plurality of component mounting devices, the detecting portion of the automatic changing device However, it is possible to control the movement position of the automatic exchanging device with respect to the feeder mounting table of each component mounting machine based on the position where the reference position portion of the feeder mounting table of each component mounting machine is detected. For this reason, even when each of a plurality of component mounters constituting the component mounting line is installed with a slight shift, each component mounter is not affected by the position shift of each component mounter. It is possible to accurately control the movement position of the automatic changer with respect to the feeder mounting table, and it is possible to prevent the automatic changer from failing to automatically change the feeder due to the displacement of each component mounting machine.
  • the automatic changer is configured such that when the feeder is automatically exchanged with respect to the feeder mounting table of each component mounting machine, the detection unit detects the reference position of the feeder mounting table of each component mounting machine.
  • the height of the feeder mounting table of each of the component mounting machines may be measured based on the height, the height of the feeder on the feeder mounting table may be determined, and the feeder may be automatically replaced.
  • the height of the feeder mounting table of each component mounting machine and the feeder mounting position are determined based on the height of the position where the detection unit of the automatic changer device detects the reference position of the feeder mounting table of each component mounting machine. Because the height of the feeder on the mounting table can be measured, even if the height of the feeder mounting table of each component mounting machine is slightly shifted, the automatic changer will It is possible to prevent failure of automatic feeder replacement.
  • a configuration may be adopted in which a plurality of reference position portions are provided on the feeder mounting table of each component mounting machine. In this way, even if there is a position shift or a height shift of each slot (set position of each feeder) of each feeder mounting table due to the inclination of the feeder mounting table of each component mounting machine, etc.
  • the automatic changer can cope with the position shift and height shift of each slot (set position of each feeder) due to the tilt of the feeder mounting table. it can.
  • a reference position portion is provided on an end surface on the take-out direction side of the feeder
  • the automatic exchange device is provided with a feeder position detection portion that detects the reference position portion of the feeder.
  • the feeder position detection unit measures the position of the feeder based on the position at which the reference position portion of the feeder is detected on the feeder mounting table of each of the component mounting machines, detects the positional deviation amount unique to the feeder, and the feeder.
  • the movement position of the automatic exchange device may be corrected by an amount of positional deviation unique to the feeder. In this way, the automatic exchanging device can cope with a position shift unique to each feeder on the feeder mounting table.
  • the amount of positional deviation unique to each feeder detected by the automatic exchange device may be stored in the storage unit of each feeder, or the feeder is identified in the storage unit of the automatic exchange device or an external storage device that can communicate with the automatic exchange device. You may make it preserve
  • the feeder mounting table may be attached to the component mounter in a replaceable manner.
  • the position of the feeder mounting table may be shifted each time the feeder mounting table is replaced. This prevents the automatic changer from failing to automatically change the feeder.
  • FIG. 1 is a perspective view showing the configuration of the entire component mounting line in one embodiment.
  • FIG. 2 is a perspective view schematically showing configurations of the automatic changer and the component mounter.
  • FIG. 3 is a perspective view showing the feeder mounting table.
  • FIG. 4 is a block diagram schematically showing a configuration of a control system of a component mounting line with an automatic changer.
  • FIG. 5 is a perspective view showing a cassette type feeder.
  • the component mounting line 10 is configured by arranging a plurality of component mounting machines 12 along the conveying direction (X direction) of the circuit board 11, and the circuit board 11 is soldered to the board loading side of the component mounting line 10. And a feeder storage device 19 for storing a cassette type feeder 14 (see FIG. 5).
  • each component mounter 12 has a feeder mounting table 24 (FIG. 1, FIG. 1) on which two conveyors 13 for transporting the circuit board 11 and a plurality of cassette-type feeders 14 are mounted in a replaceable manner. 3), and a mounting head 15 that holds a suction nozzle (not shown) that sucks and mounts components supplied from the cassette-type feeder 14 mounted on the feeder mounting base 24 on the circuit board 11,
  • a head moving device 16 that moves the mounting head 15 in the X and Y directions (left and right and front and rear directions), and a component imaging camera 17 (see FIG. 4) that images the component sucked by the suction nozzle from below are provided.
  • a mark imaging camera 18 (see FIG. 4) for imaging a reference mark (not shown) on the circuit board 11 is attached to the head moving device 16 so as to move integrally with the mounting head 15 in the XY directions. .
  • control device 20 of the component mounting machine 12 includes an input device 21 such as a keyboard, a mouse, and a touch panel, a hard disk, a RAM, a ROM, and the like that store various control programs and various data.
  • input device 21 such as a keyboard, a mouse, and a touch panel
  • hard disk such as a hard disk
  • RAM such as a hard disk
  • a ROM such as a hard disk
  • a display device 23 such as a liquid crystal display or a CRT.
  • the control device 20 of each component mounter 12 is connected to a production management computer 70 that manages the production of the entire component mounting line 10 via a network, and the production management computer 70 manages the production of the entire component mounting line 10.
  • Each component mounting machine 12 of the component mounting line 10 conveys the circuit board 11 conveyed from the upstream component mounting machine 12 to a predetermined position by the conveyor 13 and uses the clamp mechanism (not shown) to move the circuit board 11.
  • the reference mark of the circuit board 11 is imaged by the mark imaging camera 18 to recognize the position of the reference mark (reference position of the circuit board 11) and supplied from the cassette type feeder 14
  • the component to be picked up is picked up by the pick-up nozzle of the mounting head 15, moved from the pick-up position to the image pick-up position, and picked up by the component image pick-up camera 17 from the lower face side to pick up the pick-up position deviation amount of the component Etc., the component is mounted on the circuit board 11 on the conveyor 13 so as to correct the amount of suction position deviation, and a component mounting board is produced.
  • the cassette case 32 of the cassette-type feeder 14 is formed of a transparent or opaque plastic plate or metal plate or the like, and its side surface (cover) can be opened and closed.
  • a tape loading unit 35 for loading a tape reel 34 around which the component supply tape 33 is wound so as to be detachable (replaceable) is provided in the cassette case 32.
  • a reel holding shaft 36 that rotatably holds the tape reel 34 is provided at the center of the tape loading unit 35.
  • a tape feed mechanism 38 for feeding the component supply tape 33 pulled out from the tape reel 34 to the component suction position, and a top film 40 (also called a cover tape) from the component supply tape 33 before the component suction position.
  • a top film peeling mechanism 39 for peeling and exposing the components in the component supply tape 33 is provided.
  • the tape feed mechanism 38 is composed of a sprocket 42 provided near the lower part of the component suction position, a motor 43 for rotating the sprocket 42, and the like, and is formed on one side edge of the component supply tape 33 at a predetermined pitch. By engaging the teeth of the sprocket 42 with the tape feed hole and rotating the sprocket 42, the component supply tape 33 is pitch-fed to the component suction position.
  • the top film peeling mechanism 39 includes a tape press 45 for peeling the top film 40 from the upper surface of the component supply tape 33 by pressing the component supply tape 33 before the component suction position, and the top film peeled by the tape press 45
  • a top film feed gear mechanism 47 that pulls 40 in a direction opposite to the tape feed direction and feeds it into a top film collection unit 46 provided at the top of the cassette case 32, a motor 48 that drives the top film feed gear mechanism 47, and the like It is composed of
  • a waste tape 33a (only the carrier tape from which the top film 40 has been peeled off in this embodiment) from which the components have been taken out after passing through the component suction position is located below the edge of the cassette case 32 on the tape feed direction side.
  • a waste tape discharge passage 50 is provided so as to extend downward, and an outlet 50a of the waste tape discharge passage 50 is provided at a position below the center of the end face of the cassette case 32 on the tape feed direction side. ing.
  • a control device 52 for controlling the motor 43 of the tape feeding mechanism 38 and the motor 48 of the top film peeling mechanism 39 is provided.
  • the cassette case 32 is provided with a communication / power connector connected to a communication / power connector on the component mounter 12 side.
  • an automatic changer 26 for setting and removing the cassette type feeder 14 on the feeder mounting base 24 of each component mounting machine 12 is installed.
  • a stock unit 71 for storing a plurality of feeders 14 to be set on the feeder mounting table 24 is provided below the feeder mounting table 24 of each component mounting machine 12.
  • the automatic changer 26 takes out the feeder 14 to be exchanged from the feeder mounting table 24 of the plurality of component mounting machines 12 and collects it in the stock unit 71, and also feeds the feeder 14 specified by the production job (production program) from the stock unit 71. Is taken out and set on the feeder mounting table 24 of the plurality of component mounting machines 12.
  • a guide rail 75 that moves the automatic changer 26 in the X direction (left and right direction) along the arrangement of the component mounting machines 12 is provided so as to extend in the X direction throughout the component mounting line 10. It has been.
  • the substrate loading side of the guide rail 75 is extended to the feeder storage device 19, the automatic exchange device 26 moves to the front side of the feeder storage device 19, and the automatic exchange device 26 is designated by the production job from the feeder storage device 19.
  • the feeder 14 is taken out, and the used feeder 14 is returned to the feeder storage device 19.
  • the feeder mounting table 24 of each component mounting machine 12 is attached so as to be replaceable, and the operator can replace the feeder mounting table 24 attached to each component mounting machine 12.
  • a predetermined position on the front end side of the feeder mounting table 24 of each component mounting machine 12 that faces the automatic changer 26 is the reference position of the feeder mounting table 24, respectively.
  • One or a plurality of reference position portions 81 are provided. As shown in FIGS. 2 and 3, when two reference position portions 81 are provided on the front end side of the feeder mounting table 24, they are preferably provided on both the left and right sides of the front end side of the feeder mounting table 24. Further, when only one reference position portion 81 is provided on the front end side of the feeder mounting table 24, it is preferable to provide it at the center on the front end side of the feeder mounting table 24.
  • a reference position detection unit 82 (see FIG. 4), which is a detection unit for detecting the reference position unit 81 of the feeder mounting table 24, is provided at a predetermined position of the automatic exchange device 26.
  • the reference position detection unit 82 may use, for example, any of a non-contact type sensor such as an optical sensor, a proximity sensor, and an ultrasonic sensor, a contact type sensor such as a limit switch, and an image sensor (camera).
  • the reference position detection unit 82 is a non-contact type sensor or a contact type sensor
  • the reference position part 81 is formed in a shape such as a dog or a reference surface so that the sensor can detect the reference position part 81 of the feeder mounting table 24. Just do it.
  • the reference position detection unit 82 is an image sensor (camera)
  • the reference position part 81 of the feeder mounting table 24 is imaged and the image is processed so that the position of the reference position part 81 can be recognized.
  • a reference mark capable of recognizing an image or a specific shape may be formed as the reference position portion 81.
  • the reference position detection unit 82 of the automatic exchange device 26 measures the reference position portions 81 of all the feeder platforms 24 mounted on all the component mounting machines 12 and the reference position portions 83 of all the feeders 14 described later, Store that information.
  • Each feeder mounting table 24 and each feeder 14 is provided with serial number (identification ID) information, and when the replacement of the feeder mounting table 24 or the feeder 14 is detected, the automatic replacement device 26 performs a measurement operation. To do.
  • the control device 90 of the automatic exchange device 26 is based on the position (X coordinate) at which the reference position detection unit 82 detects the reference position portion 81 of the feeder mounting table 24 of each component mounting machine 12 when the automatic exchange device 26 moves.
  • the movement position (X coordinate) of the automatic changer 26 with respect to the feeder mounting table 24 of each component mounting machine 12 is controlled.
  • the control device 90 of the automatic exchange device 26 automatically replaces the feeder 14 with respect to the feeder mounting table 24 of each component mounting machine 12
  • the reference position detection unit 82 makes the feeder mounting table 24 of each component mounting machine 12.
  • the height of the feeder mounting table 24 of each component mounting machine 12 is measured with reference to the height of the position where the reference position portion 81 is detected, and the height of the feeder 14 on the feeder mounting table 24 is determined.
  • the feeder 14 is automatically exchanged.
  • the feeder of each component mounting machine 12 is provided. Even if there is a position shift or a height shift of each slot (set position of each feeder 14) of each feeder mounting table 24 due to the inclination of the mounting table 24, the plurality of reference position portions 81 of the feeder mounting table 24 are changed. By detecting them and using them as a reference, the control device 90 of the automatic exchange device 26 can correct the positional deviation and height deviation of each slot (set position of each feeder 14) due to the inclination of the feeder mounting table 24. Thus, it is possible to prevent the automatic exchange of the feeder 14 from failing.
  • one reference position portion 83 is provided on the end surface of the feeder 14 on the take-out direction side.
  • a feeder position detector 84 that detects the reference position portion 83 of the feeder 14 is provided at a predetermined position of the automatic exchange device 26.
  • the feeder position detection unit 84 may use any of a non-contact type sensor such as an optical sensor, a proximity sensor, and an ultrasonic sensor, a contact type sensor such as a limit switch, and an image sensor (camera).
  • the feeder position detection unit 84 is a non-contact type sensor or a contact type sensor, if the reference position part 83 is formed in a shape such as a dog or a reference surface so that the sensor can detect the reference position part 83 of the feeder 14. good. Further, when the feeder position detection unit 84 is an image sensor (camera), the reference position unit 83 of the feeder 14 may be imaged, and the image may be processed so that the position of the reference position unit 83 can be recognized. For example, a reference mark capable of recognizing an image or a specific shape may be formed as the reference position portion 83.
  • the control device 90 of the automatic exchange device 26 is based on the position where the feeder position detection unit 84 detects the reference position portion 83 of the feeder 14 on the feeder mounting table 24 of each component mounting machine 12 when the automatic exchange device 26 moves.
  • the position of the feeder 14 is measured to detect the amount of misalignment unique to the feeder 14, and when the feeder 14 is transferred to another position on the feeder mounting table 24 or another feeder mounting table 24,
  • the movement position of the automatic exchanging device 26 is corrected by the amount of positional deviation. In this way, the control device 90 of the automatic exchange device 26 can correct the positional deviation unique to each feeder 14 on the feeder mounting table 24, and can prevent the automatic exchange of the feeder 14 from failing.
  • the positional deviation amount specific to each feeder 14 detected by the control device 90 of the automatic exchange device 26 may be stored in a rewritable nonvolatile storage unit (not shown) of each feeder 14, or the automatic exchange device 26.
  • the rewritable nonvolatile storage device 92 or an external storage device (not shown) that can communicate with the automatic exchange device 26 may be stored in association with the identification information of the feeder 14. In short, it is only necessary to store the inherent positional deviation amount for each feeder 14 so that it can be used for correcting the positional deviation.
  • the automatic changer 26 since the reference position portion 81 is provided for each feeder mounting table 24 of each component mounting machine 12, the automatic changer 26 follows the arrangement of a plurality of component mounting machines 12.
  • the reference position detection unit 82 of the automatic changer 26 detects the reference position part 81 of the feeder mounting table 24 of each component mounting machine 12 and the feeder mounting table 24 of each component mounting machine 12 is used as a reference.
  • the moving position of the automatic exchange device 26 can be controlled. For this reason, even when each of the plurality of component mounting machines 12 constituting the component mounting line 10 is installed with a slight displacement, each component mounting machine 12 is not affected by the positional displacement of each component mounting machine 12.
  • the moving position of the automatic changer 26 can be accurately controlled with respect to the feeder mounting table 24 of the mounting machine 12, and the automatic changer 26 fails to automatically change the feeder 14 due to the displacement of each component mounting machine 12. Can be prevented.
  • the control device 90 of the automatic exchange device 26 automatically replaces the feeder 14 with respect to the feeder mounting table 24 of each component mounting machine 12
  • the reference position detection unit 82 performs the feeder mounting table 24 of each component mounting machine 12.
  • the height of the feeder mounting table 24 of each component mounting machine 12 is measured with reference to the height of the position where the reference position portion 81 is detected, and the height of the feeder 14 on the feeder mounting table 24 is determined. Since the feeder 14 is automatically replaced, even if the height of the feeder mounting table 24 of each component mounting machine 12 is slightly shifted, the height of the feeder mounting table 24 of each component mounting machine 12 is shifted. Thus, it is possible to prevent the automatic changer 26 from failing to automatically change the feeder 14.
  • the position of the feeder mounting table 24 may be shifted every time the feeder mounting table 24 is replaced.
  • this invention is good also as a structure which cannot replace
  • FIG. in addition, this invention is not limited to the said Example, It does not deviate from a summary, such as changing the structure of the component mounting machine 12 and the structure of the automatic exchange apparatus 26 suitably, and changing the structure of the feeder 14 suitably. Needless to say, various modifications can be made within the scope.
  • SYMBOLS 10 ... Component mounting line, 11 ... Circuit board, 12 ... Component mounting machine, 13 ... Conveyor, 14 ... Cassette type feeder, 15 ... Mounting head, 16 ... Head moving device, 20 ... Control device of component mounting machine, 24 ... Feeder mounting table, 26... Automatic changer, 81... Reference position part, 82... Reference position detection part (detection part), 83... Reference position part, 84 ... feeder position detection part, 90. ...Storage device

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

La présente invention comprend : un dispositif de commutation automatique (26) qui se déplace le long d'une rangée d'une pluralité de machines d'encapsulation de composants (12) qui configurent une ligne d'encapsulation de composants (10), et commute automatiquement des lignes d'alimentation (14) montées sur des tables de montage de ligne d'alimentation (24) des machines d'encapsulation de composants ; des parties de position de référence (81) qui sont respectivement disposées dans des positions prescrites des tables de montage de ligne d'alimentation de chaque machine d'encapsulation de composants, sur le côté faisant face au dispositif de commutation automatique ; et une partie de détection (82) disposée sur le dispositif de commutation automatique de façon à détecter les parties de position de référence. Le dispositif de commutation automatique commande les positions de déplacement du dispositif de commutation automatique par rapport aux tables de montage de ligne d'alimentation de chaque machine d'encapsulation de composants sur la base des positions où les parties de position de référence des tables de montage de ligne d'alimentation de chaque machine d'encapsulation de composants sont détectées par la partie de détection lors du déplacement.
PCT/JP2017/000218 2017-01-06 2017-01-06 Système de commutation automatique de ligne d'alimentation de ligne d'encapsulation de composants WO2018127965A1 (fr)

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Application Number Priority Date Filing Date Title
JP2018560295A JP6751445B2 (ja) 2017-01-06 2017-01-06 部品実装ラインのフィーダ自動交換システム
PCT/JP2017/000218 WO2018127965A1 (fr) 2017-01-06 2017-01-06 Système de commutation automatique de ligne d'alimentation de ligne d'encapsulation de composants

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PCT/JP2017/000218 WO2018127965A1 (fr) 2017-01-06 2017-01-06 Système de commutation automatique de ligne d'alimentation de ligne d'encapsulation de composants

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WO2020026619A1 (fr) * 2018-07-31 2020-02-06 パナソニックＩｐマネジメント株式会社 Système de remplacement automatique, dispositif de gestion et procédé de remplacement automatique
WO2021019755A1 (fr) * 2019-08-01 2021-02-04 株式会社Ｆｕｊｉ Appareil de transport automatique et système de production le comprenant
WO2022176179A1 (fr) * 2021-02-22 2022-08-25 ヤマハ発動機株式会社 Dispositif d'insertion/retrait de dispositif d'alimentation et système de montage de composants

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JPH0993000A (ja) * 1995-09-27 1997-04-04 Matsushita Electric Ind Co Ltd 部品供給部の部品一括交換方法と装置及びこれの台車と移載台
JP2009302108A (ja) * 2008-06-10 2009-12-24 Hitachi High-Tech Instruments Co Ltd 電子部品装着装置及び部品供給装置
WO2014010084A1 (fr) * 2012-07-13 2014-01-16 富士機械製造株式会社 Système de montage de composants
WO2016013107A1 (fr) * 2014-07-25 2016-01-28 富士機械製造株式会社 Système de remplacement automatique de distributeur

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Publication number Priority date Publication date Assignee Title
JPH0993000A (ja) * 1995-09-27 1997-04-04 Matsushita Electric Ind Co Ltd 部品供給部の部品一括交換方法と装置及びこれの台車と移載台
JP2009302108A (ja) * 2008-06-10 2009-12-24 Hitachi High-Tech Instruments Co Ltd 電子部品装着装置及び部品供給装置
WO2014010084A1 (fr) * 2012-07-13 2014-01-16 富士機械製造株式会社 Système de montage de composants
WO2016013107A1 (fr) * 2014-07-25 2016-01-28 富士機械製造株式会社 Système de remplacement automatique de distributeur

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020026619A1 (fr) * 2018-07-31 2020-02-06 パナソニックＩｐマネジメント株式会社 Système de remplacement automatique, dispositif de gestion et procédé de remplacement automatique
CN112042285A (zh) * 2018-07-31 2020-12-04 松下知识产权经营株式会社 自动更换系统、管理装置以及自动更换方法
JPWO2020026619A1 (ja) * 2018-07-31 2021-08-02 パナソニックＩｐマネジメント株式会社 自動交換システムおよび管理装置ならびに自動交換方法
CN112042285B (zh) * 2018-07-31 2023-09-01 松下知识产权经营株式会社 自动更换系统、管理装置以及自动更换方法
JP7403047B2 (ja) 2018-07-31 2023-12-22 パナソニックＩｐマネジメント株式会社 自動交換システムおよび管理装置ならびに自動交換方法
WO2021019755A1 (fr) * 2019-08-01 2021-02-04 株式会社Ｆｕｊｉ Appareil de transport automatique et système de production le comprenant
JPWO2021019755A1 (fr) * 2019-08-01 2021-02-04
JP7106765B2 (ja) 2019-08-01 2022-07-26 株式会社Fuji 自動搬送装置とそれを備えた生産システム
WO2022176179A1 (fr) * 2021-02-22 2022-08-25 ヤマハ発動機株式会社 Dispositif d'insertion/retrait de dispositif d'alimentation et système de montage de composants
JP7451842B2 (ja) 2021-02-22 2024-03-19 ヤマハ発動機株式会社 フィーダー挿抜装置及び部品実装システム

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