WO2020026931A1

WO2020026931A1 - Component count management system and component count management method

Info

Publication number: WO2020026931A1
Application number: PCT/JP2019/029122
Authority: WO
Inventors: 広紀小林; 亮司江口; 哲史大堀
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2018-07-31
Filing date: 2019-07-25
Publication date: 2020-02-06
Also published as: JPWO2020026931A1; DE112019003859T5; CN112106460A; JP7249493B2; CN112106460B

Abstract

A component count management system that has a transfer device and a counting part. The transfer device has an end effector and a detection part. The end effector is mobile and replaces a component container of a component supply unit. The detection part detects components that are in the component container. The counting part uses detection results from the detection part to count how many components are in the component container.

Description

Component storage number management system and component storage number management method

The present disclosure relates to a component storage number management system and a component storage number management method for managing the number of components stored in a component container mounted on a component supply unit.

2. Description of the Related Art There is known a tray supply device that supplies a large component to a component mounting device from a tray that stores a large component such as a BGA (Ball Grid Array) mounted on a substrate and mounted on a board (for example, Patent Document 1). reference). The tray supply device described in Patent Literature 1 includes a sensor that moves on the tray to check for the presence or absence of components, and calculates the remaining number of components stored in the tray stored in the tray supply device. ing.

JP 2000-277985 A

部品 The component storage number management system of the present disclosure includes a transfer device and a counting unit.

The transfer device has an end effector and a detection unit.

The end effector is movable and replaces the component container of the component supply unit.

(4) The detecting section detects a component accommodated in the component container.

(4) The counting unit counts the number of components accommodated in the component container based on the detection result of the detection unit.

部品 The component storage number management method of the present disclosure is a method of managing the number of components stored in the component storage in the component storage number management system.

The system for managing the number of stored parts has a transfer device having an end effector and a detection unit.

The method for managing the number of accommodated parts includes a transfer step, a detection step, and a count processing step.

In the transfer process, the component container is transferred by the end effector.

In the detection step, the components contained in the component container are detected by the detection unit.

In the counting process, the number of components accommodated in the component container is counted from the detection result in the detection process.

FIG. 1 is a configuration explanatory diagram of a component mounting system according to an embodiment of the present disclosure. FIG. 2 is a configuration explanatory diagram of a component mounting line included in the component mounting system according to the embodiment of the present disclosure. FIG. 3 is a configuration explanatory diagram of a component mounting apparatus equipped with a component supply cart provided in the component mounting system according to the embodiment of the present disclosure. FIG. 4 is a front view of a component supply cart provided in the component mounting system according to the embodiment of the present disclosure. FIG. 5 is a configuration explanatory diagram of a component mounting apparatus equipped with a tray feeder included in the component mounting system according to the embodiment of the present disclosure. FIG. 6 is a perspective view of a tray feeder included in the component mounting system according to the embodiment of the present disclosure. FIG. 7 is a configuration explanatory diagram of a transfer device included in the component mounting system according to the embodiment of the present disclosure. FIG. 8 is a block diagram illustrating a configuration of a control system of the component mounting system (component accommodation number management system) according to the embodiment of the present disclosure. FIG. 9 is an explanatory diagram of an example of component information used in the component mounting system (component accommodation number management system) according to the embodiment of the present disclosure. FIG. 10 is an explanatory diagram of counting the number of components stored in the tray by the component mounting system (component storage number management system) according to the embodiment of the present disclosure. FIG. 11A is an explanatory diagram of counting of components accommodated in component reels by the component mounting system (component accommodation number management system) according to the embodiment of the present disclosure. FIG. 11B is an explanatory diagram of counting of components stored in the stick case by the component mounting system (component storage number management system) according to the embodiment of the present disclosure. FIG. 12 is a diagram illustrating a flow of the automatic exchange method according to the embodiment of the present disclosure. FIG. 13 is a diagram illustrating a flow of the component accommodation number management method according to the embodiment of the present disclosure. FIG. 14A is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure. FIG. 14B is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure. FIG. 14C is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure. FIG. 15A is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure. FIG. 15B is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure. FIG. 15C is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.

間に While transporting the tray containing the components from the storage to the tray supply device, the number of remaining components may change due to the drop of components. In such a case, in the tray supply device of Patent Document 1, the correct remaining number of components is not known until immediately before the tray is attached to the tray supply device and production starts. As a result, production may be stopped due to a shortage of remaining parts.

Hereinafter, an embodiment of the present disclosure will be described in detail 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, the component mounting line, the component mounting device, the component supply cart, and the tray feeder. In the following, corresponding elements in all the drawings are denoted by the same reference numerals, and redundant description will be omitted. FIGS. 3 to 6 show an X direction in the substrate transport direction (left-right direction in FIG. 4) and a Y direction perpendicular to the substrate transport direction (left-right direction in FIG. 3) as two axial directions orthogonal to each other in the horizontal plane. . The Z direction (the 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 a floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3. The component mounting lines L1 to L3 are configured by connecting a plurality of component mounting devices including a component mounting device as described later, and have a function of manufacturing a mounting board having components mounted on a board. The number of component mounting lines provided in the component mounting system 1 does not need to be three, but may be one, two, or four or more.

材料 On the floor F, a material storage W is installed. It is assumed that the components to be supplied to the component mounting apparatuses constituting the component mounting lines L1 to L3 are stored in the material storage W in a form to be stored in a component reel, a tray, a stick case, or the like. The component reel, tray, and stick case are component containers that store a plurality of components.

In FIG. 1, on the floor F, a plurality of transfer devices V, which are automatic guided vehicles, are provided. The transfer device V has a built-in wireless communication unit T, and transmits and receives signals and information to and from the management computer 3 via the wireless management communication unit 3a provided in the management computer 3. The transfer device V includes a work instruction transmitted from the management computer 3, a traveling path tape and a beacon installed on a floor F (not shown), various sensors (GPS (Global Positioning System)) built in the transfer device V, obstacles, and the like. Based on information collected by itself using a sensor or the like, a camera or the like, the vehicle autonomously travels on a traveling 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 line L1 will be described below. The component mounting line L1 is a printing machine M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5, which are component mounting devices, in order from the upstream side (the left side in FIG. 2) in the board transport direction. It has. The component mounting apparatus has a substrate transport mechanism such as a belt conveyor. A mounting board is manufactured while transferring the board from upstream to downstream by the board transfer mechanism of the component mounting apparatus. The component mounting apparatus is connected to the management computer 3 by a wired or wireless communication network 2 and can transmit and receive data to and from the management computer 3.

In FIG. 2, the printing machine M1 has a function of printing paste-form cream solder on a substrate via a screen mask. The three component mounting apparatuses M2 to M4 have a function of picking up the component supplied to the component supply unit 4 by the component suction nozzle mounted on the mounting head and transferring and mounting the component to the mounting point of the board on which the cream solder is printed. Have. The component supply unit 4 of each of the component mounting apparatuses M2 and M3 is provided with a component supply cart 5 described below. A tray feeder 6 described below is mounted on the component supply unit 4 of the component mounting apparatus M4.

The reflow device M5 has a function of heating the board on which the component is mounted to melt the cream solder and then solidifying the solder to solder the component to the board. The management computer 3 manages the production of the mounting boards manufactured in the component mounting lines L1 to L3, downloads the programs and data necessary for manufacturing the mounting board to the component mounting apparatus, and also processes the components into the component mounting apparatuses M2 to M3. The management of the number of parts stored in the parts container to be supplied to M4 is executed.

Next, the configuration of the component mounting apparatuses M2 and M3 will be described with reference to FIGS. In FIG. 3, a substrate transfer mechanism 8 provided on the upper surface of a base 7 transfers and positions and holds a substrate 9 in the X direction. A mounting head 10 that is moved in the horizontal direction (X direction, Y direction) by a head moving mechanism (not shown) is installed above the substrate transport mechanism 8. At the lower end of the mounting head 10, a suction nozzle 10a is provided. The suction nozzle 10a holds the component D by vacuum suction. A component supply cart 5 is mounted on the component supply unit 4 provided on the side of the substrate transfer mechanism 8.

において In FIG. 4, a feeder mounting section 12 is provided above the component supply cart 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 section 12 in the substrate transport direction (X direction). When the component supply trolley 5 is mounted on the component supply unit 4, the feeder mounting unit 12 is separated from the lower part 5 a of the component supply trolley 5 and connected to the base 7. A plurality of upper reel holders 5U arranged in the X direction and a plurality of lower reel holders 5B arranged in the X direction are provided vertically below the lower part 5a of the component supply cart 5. Each of the upper reel holding unit 5U and the lower reel holding unit 5B rotatably holds the component reel 16 around which the component storage tape 15 storing the component D is wound.

In FIG. 3, a reel mark Mb is provided on the side surface of the component reel 16. The reel mark Mb includes a bar code or a two-dimensional code in which information specifying the component reel 16 or the component D stored in the component reel 16 is recorded. The component storage tape 15 pulled out from the component reel 16 held by the upper reel holding unit 5U or the lower reel holding unit 5B is inserted into the tape insertion slot 13a of the tape feeder 13. The tape feeder 13 conveys the component storage tape 15 inserted from the tape insertion slot 13a in the tape feed direction, and supplies the component D to the component supply position E. That is, the tape feeder 13 is a component supply unit that moves the component D accommodated in 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 stored in series inside a long 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 stacking state in a stacking portion 14 a provided on an upper portion of the stick feeder 14. That is, the stick feeder 14 is a component supply unit that moves the component D accommodated in the stick case 17 (component container) to the component supply position E. As described above, the component supply cart 5 includes the component container (the component reel 16 and the stick case 17) and the component supply means (the tape feeder 13 and the stick feeder 14), and supplies the component D to the component mounting apparatuses M2 and M3. To configure a component supply unit.

In FIG. 3, each of the component mounting apparatuses M2 and M3 includes a board transport mechanism 8, a mounting head 10, and a mounting control unit 18 that controls a head moving mechanism. The mounting controller 18 transmits a component D supply command to the tape feeder 13 or the stick feeder 14 to cause the component supply position E to supply the component D. 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 unit to the component supply position E by the mounting head 10, and A component mounting operation to be transferred and mounted to the mounting position is executed.

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

A plurality of (here, two) magazine holding portions 26 for storing magazines 25 for stacking and storing pallets 24 for mounting trays 23 for storing components D are arranged in the rack 21 in the vertical direction. . On the operation surface of the rack section 21, a rack door 26a that can be freely opened forward is provided. The magazine 25 is inserted into and removed from the magazine holding unit 26 with the rack door 26a opened (the lower side in FIG. 6). A pallet placing portion 27 is provided above the top magazine holding portion 26. On the operation surface of the rack portion 21, an openable and closable cover 27a (arrow a) is provided upward. The opening / closing cover 27a is formed with a handle 27b to be gripped during opening / closing. 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.

The pallet moving unit 22 includes a pallet table 28, a lifting mechanism 29, and a take-out mechanism 28a. The elevating mechanism 29 raises and lowers the pallet mounting table 28 (arrow b), and takes in and out the pallets 24 stored in the magazine 25 or the pallets 24 mounted on the pallet mounting section 27, or the mounting head 10 Moves the pallet mounting table 28 to the component supply position E where the component D is taken out. The take-out mechanism 28a pulls out and holds the pallet 24 from the magazine 25 or the pallet placing portion 27, and stores the pallet 24 to be held in the magazine 25 or the pallet placing portion 27.

FIG. 10 shows a pallet 24 on which two trays 23 are mounted. A tray mark Mp is provided on the upper surface of each tray 23. The tray mark Mp includes a barcode or a two-dimensional code in which information specifying the tray 23 (the component D accommodated in the tray 23) is recorded. Thus, the tray 23 is a component container that stores a plurality of components D. In addition, the pallet moving unit 22 including the pallet mounting table 28, the elevating mechanism 29, and the take-out mechanism 28a is a component supply unit that moves the component D stored in the tray 23 (component container) to the component supply position E. The tray feeder 6 is a component supply unit that includes a component container (tray 23) and component supply means and supplies the component D to the component mounting apparatus M4.

Next, the configuration of the transfer device V will be described with reference to FIG. The transfer device V includes a robot mechanism 31 and a storage unit 32 above the carriage unit 30. The bogie unit 30 includes a wheel 30a, a motor that drives the wheel 30a, a direction changing mechanism that changes the direction of the wheel 30a, and a traveling mechanism 33 that includes a sensor that detects the position and attitude of the transfer device V (see FIG. 8). I have.

The robot mechanism 31 is a multi-joint robot having an end effector 34 disposed at the tip thereof, and moves the end effector 34 in the X, Y, and Z directions, changes the direction, and rotates the end effector 34 by an angle θ. The control method of the robot mechanism 31 is not particularly limited, and includes, for example, an impedance control method and a compliance control method. Other control methods, a control method combining a plurality of control methods, and an AI (Artificial Intelligence) are used. Control or the like may be used.

The end effector 34 has a function of gripping (holding) the component container (the component reel 16, the stick case 17, the tray 23) and operating the operation target of the component supply unit (the component supply cart 5, the tray feeder 6). ing. In addition, the end effector 34 may have a function such as holding and suction in addition to holding as long as it can hold the component supply means or the component container. In addition, the end effector 34 is provided with a moving camera 35 that captures an image of a component supply unit, a component container, and the like.

(4) The recognition processing unit 36 (see FIG. 8) of the transfer device V recognizes the image captured by the moving camera 35, whereby the position of the operation target in the component supply unit, the position of the component container, and the like are recognized. As described above, the robot mechanism 31 is a moving unit that moves the end effector 34 and the moving camera 35 and adjusts the imaging axis of the moving camera 35 to various marks.

In FIG. 7, a plurality (four in this case) of storage shelves 32a whose side facing the robot mechanism 31 is open are arranged in the storage part 32. On the storage shelf 32a, a replacement component container (the component reel 16, the stick case 17, the tray 23) and the like can be placed. The transfer device V places the replenishment component container removed from the material storage W on the storage shelf 32a and transports it to the component mounting devices M2 to M4 to be replenished.

(4) The storage unit 32 is provided with a head camera 37 with the imaging axis directed downward between the storage unit 32 and the robot mechanism 31. The head camera 37 moves the reel mark Mb attached to the side surface of the component reel 16 held by the end effector 34, the tray mark Mp attached to the upper surface of the tray 23, the component reel 16, the stick case 17, the tray 23, and the like upward. Image from. The information recorded on the reel mark Mb and the tray mark Mp is recognized by the recognition processing unit 36 performing recognition processing on the reel mark Mb and the tray mark Mp captured by the head camera 37.

{Circle around (4)} The component reel 16, the stick case 17, and the tray 23 (component container) recognized by the head camera 37 are subjected to recognition processing by the recognition processing unit 36, thereby detecting the component D stored in the component container. That is, the head camera 37 is a detection unit provided in the transfer device V that detects the component D stored in the component container. As described above, the transfer device V includes the movable end effector 34 for exchanging the component container and the detection unit (the head camera 37).

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 counting the number of components D accommodated in the component container and managing the remaining number of components will be described. The management computer 3 includes a wireless management communication unit 3a, a management storage unit 40, a work instruction generation unit 41, a count processing unit 42, a comparison unit 43, a preparation instruction unit 44, a management input unit 45, and a management display unit 46. The management input unit 45 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 46 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 45.

The management storage unit 40 is a storage device that stores component information 40a, production information 40b, replacement work information 40c, and the like. The component information 40a includes, for each component number that specifies the component D, a component name (type), information (such as a size) on the component container in which the component D is stored, and a component mark such as a reel mark Mb or a tray mark Mp. Information on the attached mark is included.

Here, the details of the component information 40a will be described with reference to FIG. The component information 40a includes a component number 50, a component type 51, a component container type 52, and a storage number 53. The part number 50 is information for specifying the part D accommodated in the part container such as the production lot number, and is also recorded on the reel mark Mb and the tray mark Mp attached to the part container. The component type 51 is the type (component name) of the component D. The component container type 52 is information for specifying the type and size of the component container. In the component container type 52, “tray (4 * 7)” indicates the tray 23 capable of storing components D in a 4 × 7 grid, “reel (254)” indicates the component reel 16 having a diameter of 254 mm, “Stick” indicates the stick case 17. The storage number 53 indicates the storage number of the component D stored in each component storage device.

In FIG. 9, the part numbers 50 are “IC32101” and “IC32102”, the part D of “PGA321” having the same part type 51 is the tray 23 of the same type having the part container type 52 of “tray (4 * 7)”. , 28 are stored. As described above, the component information 40a stores the storage number 53 of the component D in association with the component container identification information (the component number 50).

In FIG. 8, the production information 40b includes information necessary for the production of the mounting board, such as the type and mounting position (XY coordinates) of the component D mounted on the board 9 and the number of mounting boards to be manufactured. That is, the production information 40b includes the number of parts used for production. The replacement work information 40c includes information (part number 50) for specifying a component container to be replenished or replaced, and information on the location, replacement order, and the like.

8, in FIG. 8, the work instruction generating unit 41 generates a work instruction including the specific information of the destination of the transfer device V, the component container to be supplied or replaced, based on the replacement work information 40c. The count processing unit 42 stores the image of the component container captured by the head camera 37 (detection unit) of the transfer device V in the component container based on the detection result of the component D detected by the recognition processing unit 36 performing image processing. The number 53 of accommodated parts D is counted. The counting processing unit 42 may perform image processing on the image captured by the head camera 37 to count the number of accommodated parts D 53.

FIG. 10 shows a captured image of the tray 23 captured by the head camera 37. Here, two trays 23 are mounted on the pallet 24. The counting unit 42 counts the number of components D detected in each tray 23. In this example, the number 53 of parts D in the upper tray 23 is counted as 28, and the number 53 of parts D in the lower tray 23 is counted as 26.

FIG. 11A shows a captured image of the component reel 16 captured by the head camera 37. The counting unit 42 calculates an approximate number 53 of the components D accommodated in the component reel 16 from the radius r of the component storage tape 15 wound and accommodated in the component reel 16. FIG. 11B shows a captured image of the stick case 17 captured by the head camera 37. The counting section 42 counts the number of components D detected through the stick case 17. In this example, the number 53 of components D of the stick case 17 is counted as eight.

When the counted number 53 of stored parts D is different from the number 53 of stored parts D (the remaining number of parts in the part container) stored in the part information 40a, the counting unit 42 stores the number 53 of stored parts information 40a. To update. That is, the counting processing unit 42 updates the remaining number of components in the component container stored in the management storage unit 40 (storage unit) to the counted number 53 of the stored components D. For example, when the tray 23 on the lower side of FIG. 10 is the tray 23 whose component number 50 of the component information 40a in FIG. 9 is “IC32102”, the capacity 53 is updated from “28” to “26”.

In FIG. 8, based on the component information 40 a and the production information 40 b, the comparing unit 43 calculates the number 53 of stored components D (the number 53 stored in the component information 40 a) and the number of components used for production. Compare. More specifically, the comparison unit 43 calculates the number of components obtained by multiplying the number of components mounted on the board 9 included in the production information 40b by the number of production boards, and the component mounting apparatuses M2 to M4 to be used for component mounting. The total of the number of components D already mounted on the device and the number 53 of accommodated components D to be replenished is compared for each type of component D.

The preparation instructing unit 44 prepares the same type of component D that satisfies the number of components used for production when the number of accommodated components 53 is smaller than the number of components used for production as a result of the comparison by the comparing unit 43. Is displayed on the management display unit 46 to give an instruction. The preparation instruction may be displayed on a portable terminal carried by the worker. As described above, the management computer 3 stores the counted number 53 of the accommodated components D in association with the specific information (the component number 50) of the component container (the management storage unit 40), the count processing unit 42, It is a management device including a unit 43 and a preparation instruction unit 44. The management computer 3 does not need to be constituted by one computer, but may be constituted by a plurality of devices. For example, part or all of the management storage unit 40 may be provided in the cloud via a server.

8, the transfer device V includes a traveling mechanism 33, a robot mechanism 31, an end effector 34, a moving camera 35, a recognition processing unit 36, a head camera 37, a transfer storage unit 47, a traveling control unit 48, an exchange control unit 49, A communication unit T is provided. The transfer storage unit 47 is a storage device and stores work instruction information 47a, recognition result information 47b, and the like. The work instruction information 47a stores a work instruction transmitted from the management computer 3 (management device) and received by the wireless communication unit T.

The recognition result information 47b stores the position of the operation target in the component supply unit, the position of the component container, and the like obtained by the recognition processing unit 36 recognizing the imaging result of the mobile camera 35. The recognition result information 47b includes a reel mark Mb obtained by the recognition processing unit 36 recognizing the imaging result of the head camera 37, a component number 50 recorded on the tray mark Mp, and a detected component container. Information of the accommodated component D and the like are stored.

The traveling control unit 48 controls the traveling mechanism 33 based on the destination of the transfer device V included in the work instruction, and moves the transfer device V to the designated destination. The exchange control unit 49 controls the robot mechanism 31 based on the work instruction, and causes the recognition destination specified by the mobile camera 35 to be imaged (see FIG. 14A). Further, the replacement control unit 49 controls the robot mechanism 31 based on the work instruction to open and close the rack door 26a and the open / close cover 27a, and replace the component container (for example, arrows c2 to c2 in FIGS. 14B to 15C). c5).

As described above, the transfer device V has the movable end effector 34 for exchanging the component container and the detecting unit (head camera 37) for detecting the component D stored in the component container. Then, the management device (management computer 3) including the transfer device V and the count processing unit 42 that counts the number 53 of the accommodated components D accommodated in the component container from the detection result by the detection unit is provided by the component accommodation number management system. Is configured. In the above description, the management computer 3 includes the count processing unit 42, but the count processing unit 42 may include the transfer device V. In that case, the number of accommodated parts 53 is counted in the transfer device V, and the counting result is transmitted to the management computer 3.

Next, according to the flow of FIG. 12, referring to FIGS. 14A to 14C and FIGS. 15A to 15C, the automatic transfer of the component container of the component supply unit by the transfer device V including the movable end effector 34 is performed. The replacement method will be described. Hereinafter, an example will be described in which the tray 23 (pallet 24) as a component container is taken out from the tray feeder 6 (component supply unit) mounted on the component mounting apparatus M4 and replaced. 14A to 14C and 15A to 15C, illustration of the robot mechanism 31 of the transfer device V is omitted for convenience.

12, first, the management computer 3 (management device) generates a work instruction in which a transfer destination is specified in front of the tray feeder 6 to which the pallet 24 to which the tray 23 to be replaced is mounted is attached, and the supply target to be refilled. The data is transmitted to the transfer device V equipped with the pallet 24 on which the tray 23 is mounted. In the transfer device V that has received the work instruction, the traveling control unit 48 moves the transfer device V to the designated transfer destination according to the work instruction (ST1: transfer device moving step). When the movement is completed, the transfer device V transmits a message to that effect to the management computer 3.

Next, in the management computer 3, the work instruction generation unit 41 removes the pallet 24 on which the tray 23 to be replaced is mounted from the component supply cart 5, and issues a work instruction for replacing the pallet 24 with the tray 23 to be refilled. It is generated (ST2: work instruction generation step). Next, the management computer 3 transmits the generated work instruction to the transfer device V (ST3: work instruction transmission step).

In FIG. 12, when the transfer device V receives the work instruction, the transfer device V performs a replacement operation according to the work instruction. First, the exchange control unit 49 controls the robot mechanism 31 to move the end effector 34 in front of the opening / closing cover 27a (arrow c1 in FIG. 14A). Then, the handle 27b is imaged by the moving camera 35 to recognize the position, and the end effector 34 grips the handle 27b to open the open / close cover 27a (ST4: open / close cover opening step).

Next, the exchange control unit 49 controls the robot mechanism 31 based on the work instruction, moves the end effector 34 to the pallet placement unit 27 with the open / close cover 27a opened, and places the end effector 34 on the pallet placement unit 27. The pallet 24 on which the tray 23 to be replaced is mounted is gripped. Next, the exchange control unit 49 moves the end effector 34 (arrow c2 in FIG. 14B), removes the pallet 24 from the pallet placing unit 27 (ST5), and moves it to the storage unit 32 (arrow c3 in FIG. 14C). (ST6).

12, in FIG. 12, the exchange control unit 49 causes the end effector 34 to hold the pallet 24 on the storage shelf 32a on which the tray 23 to be supplied is mounted (ST7) (arrow c4 in FIG. 15A). Next, the management of the number of accommodated parts including the counting process of the parts D, which will be described later, is executed (ST8: the number of accommodated parts management step). Next, the exchange control unit 49 moves the end effector 34 holding the pallet 24 to the front of the tray feeder 6, and places the pallet 24 on which the tray 23 to be supplied is mounted on the pallet placing unit 27 (ST9) (FIG. Arrow c5 of 15B).

Next, when the tray 23 (component container) to be replaced remains and the replacement operation has not been completed (No in ST10), the process returns to the work instruction generation step (ST2) to return to the pallet 24 on which the next tray 23 is mounted. A replacement operation is performed. When the exchange work of all the trays 23 is completed (Yes in ST10), the exchange control unit 49 controls the robot mechanism 31 to cause the end effector 34 to grip the handle 27b and close the open / close cover 27a (ST11: open / close cover). Closing step) (see FIG. 15C). Thus, a series of automatic exchanges of the trays 23 is completed.

Next, a component storage number management step (ST8) (component storage number management method) for managing the number of components D stored in the tray 23 (component storage container) in the component storage number management system according to the flow of FIG. explain. First, the exchange control unit 49 controls the robot mechanism 31 to transfer the pallet 24 on which the tray 23 is mounted to the field of view of the head camera 37 (detection unit) by the end effector 34 (ST21: transfer step). Next, the tray 23 is imaged by the head camera 37, the image is recognized by the recognition processing unit 36, and the component D stored in the tray 23 is detected (ST22: detecting step). At this time, the part number 50 recorded on the tray mark Mp attached to the tray 23 is also recognized.

(4) Next, the detection result is transmitted to the management computer 3, and the counted number 53 of the components D accommodated in the tray 23 (component container) is counted by the counting unit 42 (ST23: counting process step). Next, the counting processing unit 42 updates the accommodated number 53 of the parts D having the same part number 50 included in the part information 40a to the counted number 53 of accommodated parts D (ST24: update step). Accordingly, when the number of accommodated parts 53 does not match the part information 40a due to the part D falling from the tray 23 during transportation or the like, the actual number of accommodated parts D is stored in the part information 40a.

Next, the comparison unit 43 stores the number of components mounted on the board 9 included in the production information 40b, the number of components D already mounted on the component mounting apparatuses M2 to M4, and the storage of the components D to be supplied included in the component information 40a. The sum with the number 53 is compared (ST25: comparison step). That is, the counted number 53 of the accommodated parts D is compared with the number of parts used for production included in the production information 40b.

If the number 53 of parts D accommodated is smaller than the number of parts used for production (Yes in ST25), the preparation instruction unit 44 instructs to prepare the same kind of parts D that satisfies the number of parts used for production (ST26). : Preparation instruction step) and the component accommodation number management step (ST8) are completed. Thus, preparation of the missing component D can be instructed at an early stage. When the number 53 of accommodated parts D is sufficient (No in ST25), the part accommodation number management step (ST8) ends as it is.

As described above, the number 53 of components D stored in the component container can be counted before the component container (tray 23) is replaced in the component number management process (ST8). In the above description, an example is described in which the part accommodation number management step (ST8) including the counting processing step (ST23) is performed during the automatic replacement of the tray 23. However, the execution of the counting processing step (ST23) is limited to this timing. It will not be done. For example, in order to obtain the accurate number 53 of components D stored in the tray 23 in the tray feeder 6 during the component mounting operation and to issue a preparation instruction, the transfer device V uses the tray feeder 6 during the component mounting operation. May be taken out of the tray 23 to count the parts D.

As described above, the component mounting system 1 (system for managing the number of accommodated components) of the present embodiment includes the transfer device V and the counting unit 42.

The transfer device V has an end effector 34 and a detection unit (head camera 37).

(4) The end effector 34 is movable, and exchanges the component container of the component supply unit (the component supply cart 5, the tray feeder 6).

The component supply unit has a component container (component reel 16, stick case 17, tray 23) and component supply means (tape feeder 13, stick feeder 14, pallet moving unit 22).

The component container stores a plurality of components D.

The component supply means moves the component D stored in the component container to the component supply position E.

The detecting unit detects the component D stored in the component container.

The counting unit 42 counts the number 53 of the components D accommodated in the component container from the detection result by the detection unit.

This allows counting the number 53 of components D stored in the component container before replacing the component container.

According to the present disclosure, it is possible to count the number of components accommodated in the component container before replacement.

INDUSTRIAL APPLICABILITY The component storage number management system and component storage number management method of the present disclosure have an effect of counting the number of components stored in a component container before replacement, and are useful in the field of mounting components on a board. is there.

1 component mounting system (component capacity management system)
2 Communication Network 3 Management Computer 3a Wireless Management Communication Unit 4 Parts Supply Unit 5 Parts Supply Cart (Part Supply Unit)
5B Lower reel holder 5U Upper reel holder 5a Lower 6 Tray feeder (component supply unit)
Reference Signs List 7 base 8 substrate transport mechanism 9 substrate 10 mounting head 10a suction nozzle 12 feeder mounting part 13 tape feeder (component supply means)
13a Tape insertion slot 14 Stick feeder (component supply means)
14a Loading section 15 Component storage tape 16 Component reel (component container)
17 Stick case (parts container)
18 Mounting control unit 20 Feeder placement unit 21 Rack unit 22 Pallet moving unit (part supply means)
23 trays (parts container)
Reference Signs List 24 Pallet 25 Magazine 26 Magazine holding part 26a Rack door 27 Pallet placement part 27a Opening / closing cover 27b Handle 28 Pallet placement table 28a Take-out mechanism 29 Elevating mechanism 30 Bogie part 30a Wheel 31 Robot mechanism 32 Storage part 32a Storage shelf 33 Travel mechanism 34 End Effector 35 Moving camera 36 Recognition processing unit 37 Head camera (detection unit)
40 management storage unit

40a parts information

40b production information 40c replacement work information 41 work instruction generation unit 42 count processing unit 43 comparison unit 44 preparation instruction unit 45 management input unit 46 management display unit 47 transfer storage unit 47a work instruction information 47b recognition result information 48 travel control unit 49 exchange control unit 50 part number 51 part type 52 part container type 53 accommodation number D parts E component supply position F floor L1 component mounting line M1 printing machine M2 component mounting device M3 component mounting device M4 component mounting device M5 Reflow device Mb Reel mark Mp Tray mark S Slot T Wireless communication unit V Transfer device W Material storage a Arrow b Arrow r Radius c1 Arrow c2 Arrow c3 Arrow c4 Arrow c5 Arrow

Claims

A movable end effector for exchanging the component container of the component supply unit,
A detection unit that detects a component accommodated in the component container,
A transfer device having
From the detection result by the detection unit, a counting processing unit that counts the number of accommodated the components accommodated in the component container,
Comprising,
Component storage number management system.
Further comprising a storage unit that stores the counted number of accommodated parts in association with the specific information of the part container,
The system for managing the number of accommodated components according to claim 1.
The storage unit updates the stored number of remaining components of the component container to the counted number of stored components,
The system for managing the number of accommodated components according to claim 2.
A comparison section,
A preparation instruction section,
The storage unit further stores production information including the number of parts used for production,
The comparing unit compares the counted number of accommodated parts with the number of parts used for production stored in the storage unit,
The preparation instructing unit, as a result of the comparison, when the number of accommodated parts is less than the number of parts used for production, instructs to prepare the same kind of parts that satisfies the number of parts used for production.
The system for managing the number of accommodated components according to claim 2.
A movable end effector for exchanging the component container of the component supply unit,
A detection unit that detects a component accommodated in the component container,
In a component storage number management system including a transfer device having a component storage number management method for managing the number of the components stored in the component storage device,
A transfer step of transferring the component container by the end effector,
A detection step of detecting the component contained in the component container by the detection unit;
From the detection result in the detection step, a counting process step of counting the number of accommodated components in the component container,
Comprising,
How to manage the number of stored parts.
A comparison step of comparing the number of accommodated parts counted in the counting processing step with the number of parts used for production,
When the number of accommodated parts is less than the number of parts used for production, a preparation instruction step of instructing to prepare the same kind of parts that satisfies the number of parts used for production,
Further comprising,
The method for managing the number of accommodated components according to claim 5.