WO2021240638A1

WO2021240638A1 - Substrate manufacturing system, autonomous travel cart, and substrate manufacturing method

Info

Publication number: WO2021240638A1
Application number: PCT/JP2020/020713
Authority: WO
Inventors: 悠節小林; 康弘金子
Original assignee: ヤマハ発動機株式会社
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-12-02
Also published as: JPWO2021240638A1; JP7422223B2

Abstract

This substrate manufacturing system (100) comprises: an autonomous travel cart (31) that conveys an article used in a substrate work device (15) of an installation line (10); and a robot arm (40) that is provided to the autonomous travel cart, and that conveys the article used in the substrate work device to the inside of the substrate work device.

Description

Board manufacturing system, autonomous bogie and board manufacturing method

The present invention relates to a board manufacturing system, an autonomous bogie, and a board manufacturing method.

Conventionally, a substrate manufacturing system is known. The substrate manufacturing system is disclosed in, for example, Japanese Patent Application Laid-Open No. 2017-216379.

Japanese Patent Application Laid-Open No. 2017-216379 describes a board manufacturing system including a component mounting device for mounting components on a board and a self-propelled component replenishing device for supplying components mounted in the component mounting device to the component mounting device. It has been disclosed. In the substrate manufacturing system of JP-A-2017-216379, in the self-propelled component supply device, the tape holding the component is wound around the tape feeder arranged in the component mounting device to supply the component held on the tape. It is configured to supply a turned reel.

Japanese Unexamined Patent Publication No. 2017-216379

In the substrate manufacturing apparatus of JP-A-2017-216379, a self-propelled component supply device supplies a reel around which a tape holding a component is wound to a tape feeder arranged in the component mounting device. It is not necessary for the operator to supply parts to the mounting device. However, it is difficult to reduce the work load of the worker because the worker needs to replenish the things used inside the component mounting device and other board work equipment (for example, nozzles, backup pins, etc.). There is a problem that it is.

The present invention has been made to solve the above-mentioned problems, and one object of the present invention is an operator when transporting an object used in a substrate working apparatus to a substrate working apparatus. It is to provide a substrate manufacturing system, an autonomous traveling carriage, and a substrate manufacturing method capable of reducing the work load of the above.

In order to achieve the above object, the board manufacturing system according to the first aspect of the present invention is used in a mounting line including a plurality of board working devices including a component mounting device for mounting components on a board, and a board working device in the mounting line. It is provided with an autonomous traveling trolley that conveys an object to be carried, and a robot arm that is provided on the autonomous traveling trolley and conveys an object used in the substrate working apparatus to the inside of the substrate working apparatus.

In the substrate manufacturing system according to the first aspect of the present invention, as described above, a robot arm for transporting an object used in the substrate working apparatus to the inside of the substrate working apparatus is provided. As a result, objects used inside the board work device (for example, nozzles, backup pins, waste boxes, calibration jigs, etc.) can be conveyed by the robot arm, so that the operator can carry the objects to the board work device. There is no need to carry out the work of transporting. As a result, it is possible to reduce the work load of the operator when transporting the object used in the board work device to the board work device. Further, unlike the case where an object is transported to the inside of the board working device by an operator, it is not necessary to completely stop the operation of the board working device. As a result, it is possible to suppress a decrease in the efficiency (productivity) of substrate production by the substrate working apparatus. In addition, since the robot arm can convey an object when necessary for the board work device, it is possible to store the object in the board work device in case the object to be used in the board work device is required. There is no need to provide storage space. As a result, the size of the board work apparatus can be reduced. Further, since the object can be transported by the autonomous traveling bogie and the robot arm, the object used in a plurality of board work devices can be shared.

In the substrate manufacturing system according to the first aspect, preferably, the objects used in the substrate working apparatus are a backup pin for supporting the substrate, a nozzle for sucking parts, a waste box for discarding parts, and a substrate working apparatus. Includes at least one of the calibration jigs used for calibration. With such a configuration, it is possible to reduce the work load of the operator when transporting the backup pin, the nozzle, the waste box, and the calibration jig to the substrate work apparatus.

In the substrate manufacturing system according to the first aspect, preferably, the substrate working apparatus has an opening leading to the inside, and the robot arm allows an object used in the substrate working apparatus to pass through the opening of the substrate working apparatus. It is configured to be transported inside the board work equipment. With this configuration, the robot arm can be inserted into the board working device through the opening, so that the robot arm can easily convey an object inside the board working device.

In this case, preferably, it is provided on the autonomous traveling carriage or the robot arm, and further includes a detection unit for detecting the position of the opening of the board work device. With this configuration, the position of the opening of the board work device can be accurately obtained, so that the robot arm can be accurately inserted into the opening of the board work device.

In a board manufacturing system having a structure in which the board working device has an opening leading to the inside, preferably, the opening of the board working device is a robot arm directed from the front of the board working device toward a board transporting portion for transporting the substrate of the board working device. Is provided so that it can be inserted. With this configuration, the robot arm can be inserted into the inside of the board work device from the front of the board work device while the autonomous traveling carriage is positioned in front of the board work device.

In the board manufacturing system according to the first aspect, preferably, the board work device has a connecting portion for connecting and fixing the autonomous traveling vehicle, and the robot arm has the autonomous traveling vehicle connected to the connecting portion of the board working device. In this state, the material used in the board work device is configured to be transported to the inside of the board work device. With this configuration, the autonomous traveling carriage can be connected to the board work device for positioning, so that the robot arm can be stably inserted inside the board work device.

In the substrate manufacturing system according to the first aspect, preferably, the robot arm includes a horizontal moving portion that expands and contracts along the horizontal direction. With this configuration, it is not necessary to provide a space for rotating the robot arm in the horizontal direction orthogonal to the extension direction, as compared with the case where the robot arm is extended by rotating the horizontal moving portion. As a result, it is possible to suppress an increase in the space required for inserting the robot arm inside the board work apparatus.

In this case, preferably, the robot arm is connected to a vertical moving portion having a rotating shaft that rotates in the vertical direction, a horizontal moving portion connected to the vertical moving portion, and a horizontal moving portion, and rotates in the horizontal direction. It includes a horizontal rotating portion to be used, and a hand holding portion connected to the horizontal rotating portion and to which a different type of hand can be attached to and detached from the tip. With this configuration, the hand held by the hand holding portion of the robot arm can be moved and rotated in the vertical direction and the horizontal direction. Further, the object can be conveyed with a hand suitable for the object to be conveyed by the robot arm attached to the hand holding portion.

In the substrate manufacturing system according to the first aspect, preferably, a mounting portion provided on the autonomous traveling carriage and for mounting a plurality of types of objects used in the board working device is further provided. With this configuration, the autonomous traveling bogie can transport a plurality of types of objects and supply them to the board work apparatus.

In the board manufacturing system according to the first aspect, preferably, the robot arm is fixed to the autonomous traveling carriage so as not to move when the autonomous traveling carriage is traveling. With this configuration, it is possible to suppress the movement of the robot arm when the autonomous traveling bogie is traveling.

In this case, preferably, the robot arm is further provided with a movement restricting member that fixes the robot arm to the autonomous traveling vehicle so that it does not move when the autonomous traveling vehicle is traveling. With this configuration, the robot arm can be stably fixed to the autonomous traveling carriage by the movement restricting member.

In the board manufacturing system according to the first aspect, preferably, the component supply trolley for holding a plurality of component supply devices for supplying components in the component mounting device is further provided, and the robot arm removes the component supply trolley from the component mounting device. At the same time, it is configured to convey the material used in the board working device to the inside of the board working device through the opening created by removing the component supply carriage from the component mounting device. With this configuration, the robot arm can be inserted into the component mounting device from the opening created by removing the component supply carriage, so that it is not necessary to provide a dedicated opening. As a result, it is possible to supply an object to the existing component mounting device by the robot arm.

The autonomous traveling trolley according to the second aspect of the present invention includes an autonomous traveling trolley main body for transporting an object used in a board working device of a mounting line including a plurality of board working devices including a component mounting device for mounting a component on a board. It is provided on the main body of the autonomous traveling carriage, and includes a robot arm that conveys an object used in the board work device to the inside of the board work device.

In the autonomous traveling bogie according to the second aspect of the present invention, as described above, a robot arm for transporting an object used in the board work device to the inside of the board work device is provided. As a result, the object used inside the substrate work apparatus can be conveyed by the robot arm, so that the operator does not need to perform the work of conveying the object to the substrate work apparatus. As a result, it is possible to provide an autonomous traveling trolley capable of reducing the work load of the operator when transporting an object used in the board work device to the board work device. Further, unlike the case where an object is transported to the inside of the board working device by an operator, it is not necessary to completely stop the operation of the board working device. As a result, it is possible to suppress a decrease in the efficiency (productivity) of substrate production by the substrate working apparatus. In addition, since the robot arm can convey an object when necessary for the board work device, it is possible to store the object in the board work device in case the object to be used in the board work device is required. There is no need to provide storage space. As a result, the size of the board work apparatus can be reduced. Further, since the object can be transported by the autonomous traveling bogie and the robot arm, the object used in a plurality of board work devices can be shared.

In the autonomous traveling trolley according to the second aspect, preferably, the objects used in the board work device are the backup pin for supporting the board, the nozzle for sucking the parts, the waste box for discarding the parts, and the board work device. Includes at least one of the calibration jigs used for calibration. With such a configuration, it is possible to reduce the work load of the operator when transporting the backup pin, the nozzle, the waste box, and the calibration jig to the substrate work apparatus.

The board manufacturing method according to the third aspect of the present invention is a board manufacturing method in a mounting line including a plurality of board working devices including a component mounting device for mounting components on the board, and is used in the board working device of the mounting line. An object is transported by an autonomous traveling trolley, and an object used in the board working device is conveyed to the inside of the board working device by a robot arm provided on the autonomous traveling trolley.

In the substrate manufacturing method according to the third aspect of the present invention, as described above, the object used in the substrate working apparatus is conveyed to the inside of the substrate working apparatus by the robot arm. As a result, it is not necessary for the operator to carry out the work of transporting an object to the substrate work apparatus. As a result, it is possible to provide a substrate manufacturing method capable of reducing the work load of the operator when transporting an object used in the substrate work apparatus to the substrate work apparatus. Further, unlike the case where an object is transported to the inside of the board working device by an operator, it is not necessary to completely stop the operation of the board working device. As a result, it is possible to suppress a decrease in the efficiency (productivity) of substrate production by the substrate working apparatus. In addition, since the robot arm can convey an object when necessary for the board work device, it is possible to store the object in the board work device in case the object to be used in the board work device is required. There is no need to provide storage space. As a result, the size of the board work apparatus can be reduced. Further, since the object can be transported by the autonomous traveling bogie and the robot arm, the object used in a plurality of board work devices can be shared.

According to the present invention, as described above, it is possible to reduce the work load of the worker when transporting the object used in the board work device to the board work device.

It is a block diagram which showed the outline of the substrate manufacturing system by embodiment of this invention. It is a block diagram which showed the outline of the autonomous traveling bogie according to the embodiment of this invention. It is a perspective view which showed the autonomous traveling carriage by embodiment of this invention. It is a top view which showed the structure of the component mounting apparatus by embodiment of this invention. It is a front view which showed the structure of the component mounting apparatus by embodiment of this invention. It is a perspective view which showed the robot arm by embodiment of this invention. It is a front view which showed the carry-in entrance of the component mounting apparatus by embodiment of this invention. It is a top view which showed the tool which carries by the robot arm by embodiment of this invention. It is a figure which showed an example of the information of the autonomous traveling bogie managed by the server by embodiment of this invention. It is a figure which showed an example of the information of the toolbox of the autonomous traveling trolley managed by the server by embodiment of this invention. It is a figure which showed an example of the information of the production plan of the component mounting apparatus managed by the server by the embodiment of this invention. It is a figure which showed an example of the position information of the component mounting apparatus managed by the server by embodiment of this invention. It is a perspective view which showed the hand holding part of the robot arm by embodiment of this invention. It is a figure for demonstrating the holding of a nozzle stocker by a robot arm by embodiment of this invention. It is a figure for demonstrating the holding of the backup pin stocker by the robot arm by embodiment of this invention. It is a side view which showed the state which the movement of the robot arm is restricted by the Embodiment of this invention. It is a perspective view for demonstrating the connection to the component mounting apparatus of the autonomous traveling bogie according to the embodiment of this invention. It is a top view for demonstrating the connection to the component mounting apparatus of the autonomous traveling bogie according to the embodiment of this invention. It is a side view for demonstrating the insertion of the robot arm into the carry-in entrance of the component mounting apparatus by embodiment of this invention. It is a side view for demonstrating the insertion of the robot arm into the opening generated by removing the component supply carriage of the component mounting apparatus according to the embodiment of the present invention. It is a front view which showed the disposal box of the component mounting apparatus by embodiment of this invention. It is a front view for demonstrating installation of the calibration jig of the component mounting apparatus by embodiment of this invention. It is 1st flowchart for demonstrating the tool supply processing by embodiment of this invention. It is a 2nd flowchart for demonstrating the tool supply processing by embodiment of this invention.

Hereinafter, embodiments embodying the present invention will be described with reference to the drawings.

(Configuration of board manufacturing system)
The configuration of the substrate manufacturing system 100 according to the embodiment of the present invention will be described with reference to FIG.

The board manufacturing system 100 according to the present embodiment is configured to mount the component E on the board S to manufacture the board S on which the component E is mounted. As shown in FIG. 1, the board manufacturing system 100 includes a mounting line 10, a server 20, and a plurality of autonomous traveling bogies 30.

A plurality of mounting lines 10 are provided. Further, the mounting line 10 includes a loader 11, a printing machine 12, a printing inspection machine 13, a dispenser device 14, a plurality of component mounting devices 15, an appearance inspection device 16, a reflow device 17, and an appearance inspection device 18. And the unloader 19. Further, the mounting line 10 is configured so that the substrate S is conveyed from the upstream side (left side) to the downstream side (right side) along the production line. The loader 11, the printing machine 12, the printing inspection machine 13, the dispenser device 14, the component mounting device 15, the visual inspection device 16, the reflow device 17, the visual inspection device 18, and the unloader 19 are "board work devices" within the scope of the claims. This is an example.

(Implementation line configuration)
Next, the configuration of each device constituting the mounting line 10 will be described.

The loader 11 has a role of holding the board S (wiring board) before the component E is mounted and carrying the board into the mounting line 10. The components include small pieces of electronic components such as LSIs, ICs, transistors, capacitors and resistors.

The printing machine 12 is a screen printing machine and has a function of applying cream solder on the mounting surface of the substrate.

The printing inspection machine 13 has a function of inspecting the state of the cream solder printed by the printing machine 12.

The dispenser device 14 has a function of applying cream solder, an adhesive, or the like to the substrate S.

The component mounting device 15 has a function of mounting (mounting) component E at a predetermined mounting position on a board on which cream solder is printed. Further, a plurality of component mounting devices 15 are arranged along the transport direction of the substrate.

The visual inspection device 16 is provided downstream of the plurality of component mounting devices 15. The visual inspection device 16 has a function of inspecting the appearance of the substrate S on which the component E is mounted by the component mounting device 15.

The reflow device 17 has a function of melting the solder by performing a heat treatment and joining the component E to the electrode portion of the substrate S. The reflow device 17 is configured to perform heat treatment while transporting the substrate on the lane.

The visual inspection device 18 is provided downstream of the reflow device 17. The visual inspection device 18 has a function of inspecting the appearance of the substrate after the heat treatment is performed by the reflow device 17.

The unloader 19 has a role of discharging the board S after the component E is mounted from the mounting line 10.

A passage is provided between the plurality of mounting lines 10 for workers and the autonomous traveling bogie 30 to pass and work.

The server 20 manages information about the mounting line 10. The server 20 manages data related to the type and number of boards manufactured by the mounting line 10, the type of component E to be mounted, the inventory amount of component E, and mounting. The server 20 includes each device of the mounting line 10 (loader 11, printing machine 12, printing inspection machine 13, dispenser device 14, component mounting device 15, visual inspection device 16, reflow device 17, visual inspection device 18, unloader 19). It is configured to be communicable. Further, the server 20 is configured to be able to communicate with the autonomous traveling bogie 30. That is, the server 20 is configured to transmit a command to the autonomous traveling bogie 30. Further, the server 20 is configured to receive information such as a video from the autonomous traveling bogie 30. The server 20 is composed of a computer having a control unit such as a CPU, a storage unit, and a communication unit.

(Structure of autonomous bogie)
The configuration of the autonomous traveling bogie 30 according to the embodiment of the present invention will be described with reference to FIGS. 2 to 3.

The autonomous traveling trolley 30 autonomously travels, and each device of the mounting line 10 (loader 11, printing machine 12, printing inspection machine 13, dispenser device 14, a plurality of component mounting devices 15, visual inspection device 16, reflow device 17, It is configured to convey an object used in the visual inspection device 18 and the unloader 19). Specifically, the autonomous traveling bogie 30 is configured to transport and replenish the component E mounted by the component mounting device 15. The autonomous traveling bogie 30 conveys a tool 60 used in equipment in the mounting line 10 such as a nozzle 62a for mounting the component E and a backup pin 61a. Further, the autonomous traveling trolley 30 can tow and transport the component supply trolley 153b mounted on the component mounting device 15. The parts supply carriage 153b can hold a plurality of parts supply devices (tape feeders 153a).

As shown in FIG. 2, the autonomous traveling vehicle 30 includes an autonomous traveling vehicle main body 31 and a robot arm 40. The autonomous traveling bogie main body 31 includes a control unit 32, a camera 33, a motor 34, a battery 35, a communication unit 36, and a movement control unit 37. The robot arm 40 includes a vertical moving portion 41, a horizontal moving portion 42, a horizontal rotating portion 43, and a hand holding portion 44. The autonomous traveling trolley main body 31 is an example of the "autonomous traveling trolley" in the claims. Further, the camera 33 is an example of a "detection unit" in the claims.

The control unit 32 is provided on the autonomous traveling bogie main body 31. Further, the control unit 32 is configured to control each unit of the autonomous traveling bogie 30. The control unit 32 includes a CPU (Central Processing Unit) and a memory. The control unit 32 controls the motor 34 to control the autonomous traveling of the autonomous traveling bogie main body 31. The control unit 32 controls the autonomous traveling bogie main body 31 so as to self-propell toward the destination based on the stored or acquired position information. For example, the control unit 32 acquires position information based on the tape arranged on the floor surface. Alternatively, the control unit 32 acquires and stores the position information based on the arrangement data of the mounting line 10. Alternatively, the control unit 32 acquires position information based on a signal received from a specific position in the traveling region.

Further, the control unit 32 is configured to control the drive of the robot arm 40.

The camera 33 is configured to capture the surrounding state of the autonomous traveling carriage 30. Further, the camera 33 is provided on at least one of the autonomous traveling bogie main body 31 and the robot arm 40. The camera 33 is used to detect the position of the component mounting device 15 to which the object is to be conveyed and the position of the opening of the component mounting device 15 to which the object is to be conveyed. That is, the camera 33 images the periphery of the opening, and the control unit 32 detects the position of the opening based on the imaging result. Further, the camera 33 takes a picture in order to obtain the information necessary for the autonomous traveling of the autonomous traveling bogie main body 31.

The motor 34 drives the wheels for autonomously traveling the autonomous traveling bogie main body 31. The motor 34 is configured to drive the wheels to move the autonomous traveling bogie main body 31 forward, backward, and turn.

The battery 35 is configured to supply electric power to each part of the autonomous traveling carriage 30. The battery 35 includes a rechargeable battery. The autonomous traveling bogie main body 31 autonomously travels by the electric power of the battery 35. Further, the robot arm 40 is driven by the electric power of the battery 35. When the power of the battery 35 becomes low, the autonomous traveling bogie main body 31 autonomously travels to the charging station and the battery 35 is charged.

The movement control unit 37 is configured to fix the robot arm 40 to the autonomous traveling vehicle body 31 so that the robot arm 40 does not move when the autonomous traveling vehicle body 31 is traveling.

As shown in FIG. 3, the autonomous traveling bogie 30 is provided with a mounting unit 50 on which a plurality of types of objects used in the component mounting device 15 are mounted. The mounting portion 50 includes a backup pin mounting portion 51 on which a backup pin stocker 61 in which a plurality of backup pins 61a supporting the substrate S are arranged is placed, and a nozzle stocker in which a plurality of nozzles 62a for sucking the component E are arranged. It includes a nozzle mounting portion 52 on which the 62 is mounted, and a waste mounting portion 53 for accommodating the waste in the waste box 63.

As shown in FIGS. 4 and 5, the component mounting device 15 has a function of mounting (mounting) the component E at a predetermined mounting position of the substrate S on which the cream solder is printed. The component mounting device 15 includes a base 151, a pair of conveyors 152, a component supply unit 153, a head unit 154, a support unit 155, a pair of rail units 156, a component recognition imaging unit 157, and a control unit 158. And have. Further, as shown in FIG. 5, the component mounting device 15 includes a housing 15a and a carry-in inlet 15b provided in the housing 15a.

The pair of conveyors 152 are installed on the base 151 and are configured to convey the substrate S in the X direction. Further, the pair of conveyors 152 are configured to hold the substrate S being conveyed in a stopped state at the mounting work position. Further, the pair of conveyors 152 are configured so that the distance in the Y direction can be adjusted according to the dimensions of the substrate S.

The parts supply unit 153 is arranged on the outside (Y1 side and Y2 side) of the pair of conveyors 152. Further, a plurality of tape feeders 153a held on the parts supply carriage 153b (see FIG. 20) are arranged in the parts supply unit 153.

The tape feeder 153a holds a reel on which a tape that holds a plurality of parts E at predetermined intervals is wound. The tape feeder 153a is configured to supply the component E from the tip of the tape feeder 153a by rotating the reel to send out the tape holding the component E.

The head unit 154 is provided so as to move between the upper part of the pair of conveyors 152 and the upper part of the component supply unit 153. Further, the head unit 154 includes a plurality of (five) mounting heads 154a having nozzles attached to the lower ends, and a substrate recognition imaging unit 154b.

The mounting head 154a is configured to work on the board. The mounting head 154a is configured to mount the component E on the substrate S. Specifically, the mounting head 154a is configured to be movable up and down (movable in the Z direction), and the component E supplied from the tape feeder 153a by the negative pressure generated at the tip of the nozzle 62a by the air pressure generating portion is provided. It is configured to be attracted and held, and the component E is mounted (mounted) at the mounting position on the substrate S.

The substrate recognition imaging unit 154b is configured to image the fiction mark F of the substrate S in order to recognize the position and orientation of the substrate S to be worked. Then, by imaging and recognizing the position of the fiducial mark F, it is possible to accurately acquire the mounting position of the component E on the substrate S. The substrate recognition imaging unit 154b is configured to image the substrate S from above (Z1 direction side). Further, the substrate recognition imaging unit 154b is configured to image an object carried in by the robot arm 40 within the movable range of the mounting head 154a.

The support portion 155 includes an X-axis motor 155a. The support portion 155 is configured to move the head unit 154 in the X direction along the support portion 155 by driving the X-axis motor 155a. Both ends of the support portion 155 are supported by a pair of rail portions 156.

The pair of rail portions 156 are fixed on the base 151. The rail portion 156 on the X1 side includes a Y-axis motor 156a. The rail portion 156 is configured to move the support portion 155 along the pair of rail portions 156 in the Y direction orthogonal to the X direction by driving the Y-axis motor 156a. Since the head unit 154 can move in the X direction along the support portion 155 and the support portion 155 can move in the Y direction along the rail portion 156, the head unit 154 can move in the XY direction. ..

The component recognition image pickup unit 157 is fixed on the upper surface of the base 151. The component recognition image pickup unit 157 is arranged on the outside (Y1 side and Y2 side) of the pair of conveyors 152. The component recognition imaging unit 157 images the component E sucked by the nozzle of the mounting head 154a from below (Z2 direction side) in order to recognize the suction state (suction posture) of the component E prior to mounting the component E. It is configured as follows. Thereby, it is possible to acquire the suction state of the component E sucked by the nozzle of the mounting head 154a.

A waste box 63 is arranged on the upper surface of the base 151. The waste box 63 is placed on the base 151 so as to be transportable by the robot arm 40.

The control unit 158 includes a CPU, and is a component mounting device 15 such as a transfer operation of a substrate S by a pair of conveyors 152, a mounting operation by a head unit 154, a component recognition image pickup unit 157, and an image pickup operation by a substrate recognition image pickup unit 154b. It is configured to control the overall operation. Further, the control unit 158 is configured to be able to communicate with the server 20. The control unit 158 is configured to send and receive information such as production information and component information to and from the server 20.

The housing 15a is provided so as to cover the component mounting device 15. The carry-in inlet 15b includes an opening leading to the inside of the component mounting device 15. The carry-in entrance 15b is configured to insert the robot arm 40. The carry-in inlet 15b is covered with a cover 15d (see FIG. 19) when the robot arm 40 is not inserted. Further, when the robot arm 40 is inserted, the carry-in entrance 15b is opened by moving the cover 15d.

As shown in FIG. 3, the robot arm 40 is provided on the autonomous traveling bogie main body 31. Further, the robot arm 40 is configured to convey an object used in the component mounting device 15 to the component mounting device 15. As shown in FIG. 6, the robot arm 40 includes a vertical moving portion 41 having a rotating shaft that rotates in the vertical direction, a horizontal moving portion 42 that is connected to the vertical moving portion 41 and expands and contracts along the horizontal direction. Includes a horizontal rotating unit 43 that is connected to the horizontal moving unit 42 and rotates in the horizontal direction, and a hand holding unit 44 that is connected to the horizontal rotating unit 43 and has a different type of hand 45 attached to and detached from the tip. There is. The vertical movement portion 41 has a base 41a, an arm 41b, and an arm 41c. The horizontal moving portion 42 has a slider 42a and a slider 42b. The horizontal rotating portion 43 includes an arm 43a and a connecting portion 43b.

The base 41a of the vertical movement portion 41 is fixed to the autonomous traveling bogie main body 31. The arm 41b is rotatably provided about the rotation axis A1 with respect to the base 41a. The arm 41c is rotatably provided about the rotation axis A2 with respect to the arm 41b.

The slider 42a of the horizontal moving portion 42 is provided so as to be slidable in the B1 direction (horizontal direction when the

arms

41b and 41c are not rotated) with respect to the arm 41c of the vertical moving portion 41. The slider 42b is provided so as to be slidable in the B2 direction (horizontal direction when the

arms

41b and 41c are not rotated) with respect to the slider 42a.

The arm 43a of the horizontal rotating portion 43 is rotatably provided about the rotation axis C1 with respect to the slider 42b of the horizontal moving portion 42. The connecting portion 43b is rotatably provided about the rotation axis C2 with respect to the arm 43a.

The hand holding portion 44 is provided so as to be rotatable about the rotation axis D1 with respect to the connecting portion 43b of the horizontal rotating portion 43. The hand holding portion 44 is configured to detachably hold the hand 45 (see FIG. 3) at the tip thereof. Further, as shown in FIG. 15, the hand holding portion 44 is configured to hold the backup pin stocker 61 in a detachable manner. Further, as shown in FIG. 20, the hand holding portion 44 is configured to be connectable to the parts supply carriage 153b.

As shown in FIG. 7, a plurality of marks 15c are provided at the carry-in entrance 15b. The mark 15c is provided to be imaged and recognized by the camera 33 of the autonomous traveling carriage 30. The control unit 32 of the autonomous traveling bogie 30 is configured to acquire the position of the carry-in entrance 15b based on the image pickup result of the mark 15c by the camera 33. Specifically, the control unit 32 acquires the information of the component mounting device 15 requested by the tool 60 (backup pin 61a, nozzle 62a, waste box 63) to be conveyed from the server 20. The information to be acquired includes the type of the tool 60 required by the component mounting device 15, the planar position information of the component mounting device 15, and the three-dimensional position information of the carry-in port 15b of the component mounting device 15. The control unit 32 moves the autonomous traveling bogie main body 31 based on the planar position information of the component mounting device 15. The control unit 32 moves the autonomous traveling bogie main body 31 to the front of the target component mounting device 15, and then takes an image of the periphery of the carry-in entrance 15b with the camera 33. The control unit 32 recognizes the mark 15c provided at the carry-in entrance 15b from the image pickup result, and acquires the position of the carry-in entrance 15b.

As shown in FIG. 8, a plurality of marks 60a are provided on the tool 60 carried into the component mounting device 15 by the robot arm 40. The mark 60a is provided to be imaged and recognized by the board recognition image pickup unit 154b of the component mounting device 15. The control unit 158 of the component mounting device 15 is configured to acquire the position of the carried-in tool 60 based on the image pickup result of the mark 60a by the substrate recognition image pickup unit 154b. That is, the control unit 158 is configured to image an object carried into the movable range of the mounting head 154a by the substrate recognition image pickup unit 154b and recognize the object based on the image pickup result. Specifically, when the control unit 158 receives the positioning completion notification of the robot arm 40, the control unit 158 corresponds to the substrate recognition imaging unit 154b from the tool confirmation position information transmitted together with the notification or the tool confirmation position information defined in advance. Move to the position where you want to. Then, the control unit 158 takes an image of the mark 60a of the tool 60 by the substrate recognition image pickup unit 154b and acquires the position of the tool 60.

Further, the control unit 158 is configured to recognize an object carried into the movable range of the mounting head 154a and receive the object from the robot arm 40 by the mounting head 154a based on the recognition result. Further, the control unit 158 is configured to recognize the type of the object carried into the movable range of the mounting head 154a.

When the component mounting device 15 requests the tool 60, the server 20 performs a process of transporting the tool 60 to the component mounting device 15 by the autonomous traveling carriage 30 using the information shown in FIGS. 9 to 12. conduct.

As shown in FIG. 9, the server 20 has a serial number of the autonomous traveling bogie 30 (AGV). , The name of the autonomous traveling vehicle 30 (AGV), the IP address of the autonomous traveling vehicle 30 (AGV), the IP address of the corresponding server 20, and the tool 60 mounted on the mounting unit 50 (tool box). The information and the current position information of the autonomous traveling vehicle 30 (AGV) are managed. Further, the server 20 manages tool holding information (type, height, arrangement information) of the autonomous traveling vehicle 30 (AGV).

Further, as shown in FIG. 10, the server 20 has the toolbox NO. Of the tool 60 mounted on the mounting unit 50 (toolbox). The information of the tool 60 corresponding to the above is managed. The information of the tool 60 includes the position information of the plurality of marks 60a of the tool 60, the type information of the nozzle 62a, and the type information of the backup pin 61a.

Further, the server 20 manages the production planning information as shown in FIG. The production plan information includes the model name and line number. The scheduled production start time, the production end time, and the number of production sheets are included. Based on the production plan, the server 20 predicts a device that requires transportation of the tool 60, and is configured to manage to secure the autonomous traveling vehicle 30 in advance so that the autonomous traveling vehicle 30 can be directed to the server 20. Has been done.

Further, as shown in FIG. 12, the server 20 manages the position information of the plurality of component mounting devices 15. The position information of the component mounting device 15 includes line information, component mounting device information (mounting device name), device position information, and position information of the carry-in inlet 15b of the component mounting device 15.

As shown in FIG. 13, the hand holding portion 44 of the robot arm 40 has a plurality of claws 44a. The plurality of claws 44a are configured to fix the hand 45 by moving inward. The claw 44a is configured to be electrically driven by the control of the control unit 32.

As shown in FIG. 14, the robot arm 40 holds and conveys the nozzle stocker 62 of the nozzle mounting portion 52 provided on the autonomous traveling bogie 30. As shown in FIG. 14A, the robot arm 40 moves the hand 45 to the side of the nozzle stocker 62 to be conveyed. Then, as shown in FIG. 14B, the hand 45 rotates so that the pair of grip portions 451 of the hand 45 are lined up in the vertical direction. That is, the hand 45 rotates so that the convex portion at the tip of the telescopic portion 452 protrudes in the horizontal direction. The hand 45 is configured to be rotatable with respect to the hand holding portion 44. Further, the hand 45 is configured to be able to open and close the pair of grip portions 451. Further, the hand 45 is configured so that the telescopic portion 452 can be expanded and contracted. When the hand 45 is held by the hand holding portion 44 of the robot arm 40, the terminal is connected and power is supplied from the robot arm 40. Further, the hand 45 is configured to be driven by electric power supplied from the robot arm 40.

As shown in FIG. 14 (C), the hand 45 extends the telescopic portion 452. Then, as shown in FIG. 14 (D), the hand 45 rotates so that the pair of grip portions 451 of the hand 45 are aligned along the horizontal direction. That is, the hand 45 rotates so that the convex portion at the tip of the telescopic portion 452 projects upward. As a result, the convex portion at the tip of the telescopic portion 452 is hooked on the nozzle stocker 62 to be conveyed. As shown in FIG. 14 (E), the hand 45 contracts the telescopic portion 452. As a result, the nozzle stocker 62 is attracted to the pair of gripping portions 451. As a result, the nozzle stocker 62 is held by the hand 45. In the state where the nozzle stocker 62 is held by the hand 45, the switching portion of the nozzle stocker 62 can be operated by the expansion / contraction portion 452. Thereby, the nozzle stocker 62 held by the hand 45 can be switched between the state of holding the nozzle 62a and the state of releasing the holding of the nozzle 62a.

As shown in FIG. 15, the robot arm 40 holds and conveys the backup pin stocker 61 of the backup pin mounting portion 51 provided on the autonomous traveling bogie 30. The robot arm 40 grips the backup pin stocker 61 to be conveyed from below with the hand 45 removed. Specifically, the robot arm 40 holds the backup pin stocker 61 by the hand holding portion 44. Below the backup pin stocker 61, a gripped portion having the same shape as the hand 45 is provided.

As shown in FIG. 16, the movement control unit 37 of the autonomous traveling vehicle 30 fixes the robot arm 40 to the autonomous traveling vehicle body 31 so that the robot arm 40 does not move when the autonomous traveling vehicle body 31 is traveling. It is configured as follows. Specifically, the robot arm 40 extends the rod-shaped movement restricting member upward from the autonomous traveling trolley main body 31 and passes the movement restricting member through the through holes provided in each part of the robot arm 40 so that the robot arm 40 can move to the autonomous traveling trolley main body. It is fixed to 31.

As shown in FIGS. 17 and 18, the autonomous traveling bogie main body 31 is connected to the component mounting device 15. Here, the component mounting device 15 includes a connecting portion 70 for connecting and fixing the autonomous traveling bogie main body 31 on the passage side extending in parallel with the mounting line 10. Then, the robot arm 40 is configured to convey the object used in the component mounting device 15 to the inside of the component mounting device 15 in a state where the autonomous traveling bogie main body 31 is connected to the connecting portion 70 of the component mounting device 15. Has been done.

Further, the autonomous traveling bogie main body 31 has a pair of rollers 38a that can rotate around the rotation axis along the vertical direction, and a plurality of rollers 38b that can rotate around the rotation axis along the horizontal direction. One roller 38a is provided on each of the left and right sides of the autonomous traveling bogie main body 31. Two rollers 38b are provided on each of the left and right sides of the autonomous traveling bogie main body 31. The pair of left and right rollers 38b are arranged at intervals in the vertical direction so as to sandwich the rollers 38a.

The connecting portion 70 has a pair of clamp portions 71 arranged along the horizontal direction. The pair of clamp portions 71 each have a taper 71a and a taper 71b. As shown in FIG. 18, the taper 71a is formed so that the distance between the taper 71a and the taper 71a becomes narrower toward the component mounting device 15 in a plan view. As a result, the autonomous traveling bogie main body 31 is guided between the pair of clamp portions 71 along the taper 71a. Further, at this time, the roller 38a of the autonomous traveling bogie main body 31 rotates when it comes into contact with the clamp portion 71. As shown in FIG. 17, the taper 71b is vertically arranged in pairs with respect to each of the pair of clamp portions 71. The taper 71b is formed so that the distance increases toward the component mounting device 15. As a result, the autonomous traveling bogie main body 31 is guided to ride on the clamp portion 71. Further, at this time, the roller 38b of the autonomous traveling bogie main body 31 rotates when it comes into contact with the clamp portion 71. When the autonomous traveling bogie main body 31 is arranged in between, the clamping portion 71 of the connecting portion 70 clamps and fixes the autonomous traveling bogie main body 31 by narrowing the interval.

As shown in FIG. 19, the robot arm 40 is configured to convey an object used in the component mounting device 15 to the inside of the component mounting device 15 through the opening of the component mounting device 15. Specifically, the robot arm 40 is configured to carry in and out the tool 60 used by the component mounting device 15 from the carry-in inlet 15b of the component mounting device 15. Further, the robot arm 40 is inserted into the opening (carry-in entrance 15b) of the component mounting device 15 from the front of the component mounting device 15 toward the conveyor 152 (board transfer section) that conveys the substrate S of the component mounting device 15. It is provided in. Further, as shown in FIG. 5, the opening (carry-in entrance 15b) of the component mounting device 15 is provided in the vicinity of one end of the substrate S in the transport direction (X direction). The robot arm 40 is configured to convey the tool 60 from the carry-in inlet 15b to a position substantially the same as the height position of the substrate S.

Further, the control unit 32 controls the drive of the robot arm 40 so as to carry in and out the object used in the component mounting device 15 within the movable range of the mounting head 154a in the component mounting device 15 in a plan view. Specifically, the control unit 32 controls the drive of the robot arm 40 in the component mounting device 15 so as to transfer and receive the object used in the component mounting device 15 to the mounting head 154a.

As shown in FIG. 19, the carry-in inlet 15b is provided with a cover 15d and a drive unit 15e for moving the cover 15d. The cover 15d is switched between an open state in which the carry-in entrance 15b is opened and a closed state in which the carry-in entrance 15b is closed by the drive unit 15e.

As shown in FIG. 19A, the autonomous traveling carriage 30 arrives in front of the component mounting device 15. At this time, the control unit 32 recognizes the position of the opening (carry-in entrance 15b) for inserting the robot arm 40 into the component mounting device 15, and moves the autonomous traveling carriage main body 31 to the position of the carry-in entrance 15b. Then, as shown in FIG. 19B, the cover 15d is opened. As a result, the carry-in entrance 15b is opened. Then, as shown in FIG. 19C, the robot arm 40 is inserted into the component mounting device 15 from the opened carry-in inlet 15b. At this time, by extending the horizontal moving portion 42 with the height position of the tool 60 (backup pin stocker 61) to be conveyed aligned by the vertical moving portion 41 of the robot arm 40, the tool 60 becomes the component mounting device 15. It is inserted inside. Further, the position of the tool 60 is adjusted by rotating the horizontal rotating portion 43 while the tool 60 is inserted inside the component mounting device 15.

Here, the control unit 32 conveys the object used in the component mounting device 15 to the position designated by the component mounting device 15 or the preset position of the component mounting device 15, so that the robot arm 40 can be conveyed. Control the drive of. Further, when the robot arm 40 is inserted, the component mounting device 15 retracts the mounting head 154a so as not to interfere with the robot arm 40.

As shown in FIG. 20, the robot arm 40 is provided in the component mounting device 15 through an opening created by removing the component supply carriage 153b from the component mounting device 15 and removing the component supply carriage 153b from the component mounting device 15. It is configured to transport the material to be used to the inside of the component mounting device 15.

As shown in FIG. 20 (A), the robot arm 40 grips the parts supply carriage 153b by the hand holding portion 44. On the outside of the parts supply carriage 153b, a gripped portion having the same shape as the hand 45 is provided. As shown in FIG. 20B, the autonomous traveling trolley 30 moves so as to remove the parts supply trolley 153b from the parts mounting device 15 in a state where the parts supply trolley 153b is gripped and connected by the robot arm 40. ..

After that, the autonomous traveling trolley 30 moves the parts supply trolley 153b to a position where it does not get in the way. Then, the robot arm 40 releases the grip of the parts supply carriage 153b by the hand holding portion 44. As shown in FIG. 20 (C), the autonomous traveling bogie 30 moves to the position where the parts supply bogie 153b is removed. Further, the robot arm 40 conveys an object used in the component mounting device 15 to the inside of the component mounting device 15 through an opening created by removing the component supply carriage 153b from the component mounting device 15.

As shown in FIG. 21, the robot arm 40 is configured to collect the waste E1 accumulated in the waste box 63. The waste E1 is a defective component E, a component E that has failed to be mounted, and the like. The waste E1 is disposed of in the waste box 63 by the mounting head 154a. The waste box 63 is provided with a slope 63a and a stopper 63b. Further, the disposal box 63 is provided with a collection container 63c.

The waste E1 discarded by the mounting head 154a is stored in the disposal box 63. The robot arm 40 brings the collection container 63c into contact with the stopper 63b, and collects the waste E1 from the waste box 63 to the collection container 63c via the slope 63a. Further, the robot arm 40 collects the waste E1 of the collection container 63c in the waste loading unit 53 of the autonomous traveling trolley 30. At this time, the lower end of the slope 63a is covered with the stopper 63b, and the outflow of waste E1 is suppressed.

As shown in FIG. 22, the robot arm 40 conveys the calibration jig 64 used for calibration of the component mounting device 15 to the inside of the component mounting device 15. The calibration jig 64 has a jig component 64a and a pedestal 64b. Further, the calibration jig 64 is mounted on the pedestal 64b after the jig component 64a is attracted by the mounting head 154a of the component mounting device 15. Then, the position of the jig component 64a mounted on the pedestal 64b is imaged by the substrate recognition image pickup unit 154b, and the movement of the mounting head 154a is calibrated (adjusted) based on the image pickup result. The pedestal 64b is provided with an air passage 64c for supplying a negative pressure. The air passage 64c is configured so that negative pressure is supplied via the plate portion 61b on which the backup pin 61a is placed. As a result, the jig component 64a can be attracted and fixed to the pedestal 64b by negative pressure, so that it is possible to prevent the jig component 64a mounted on the pedestal 64b from being displaced. .. When the calibration jig 64 is conveyed by the robot arm 40, the jig component 64a is prevented from falling from the pedestal 64b by covering the upper part of the jig component 64a with the claws of the hand 45.

As shown in FIGS. 23 and 24, the server 20 is configured to control the supply of the tool 60 to the component mounting device 15 by the autonomous traveling carriage 30. That is, the server 20 is configured to receive information on necessary objects from the component mounting device 15 and transmit an instruction to convey the object to the component mounting device 15 to the corresponding autonomous traveling bogie 30.

In step S1 of FIG. 23, the request for the tool 60 is transmitted from the component mounting device 15 to the server 20. In step S2, the server 20 receives the request of the tool 60. In step S3, the server 20 determines whether or not the autonomous traveling vehicle 30 (AGV) holding the requested tool 60 can be dispatched. If the autonomous traveling trolley 30 holding the requested tool 60 cannot be dispatched due to dispatch to another device or the like, the server 20 notifies the component mounting device 15 of an error in step S4.

If the autonomous traveling vehicle 30 holding the requested tool 60 can be dispatched, in step S5, the server 20 transfers the destination information (information of the component mounting device 15) and the information of the tool 60 to the corresponding autonomous traveling vehicle 30. Notify to. In step S6, the autonomous traveling vehicle 30 receives the movement destination information and the tool information, and starts moving to the designated component mounting device 15.

In step S7, when the autonomous traveling carriage 30 arrives in front of the designated component mounting device 15, it requests the server 20 to approve the transfer of the tool 60 to the component mounting device 15. In step S8, the server 20 notifies the component mounting device 15 of the approval request received from the autonomous traveling carriage 30.

In step S9, the component mounting device 15 determines whether or not to approve. If approval is not possible due to the inability to open the carry-in entrance 15b or the like, in step S10, the component mounting device 15 notifies the autonomous traveling bogie 30 of an error via the server 20. If approval is possible, in step S11, the component mounting device 15 performs an operation of retracting the mounting head 154a. In step S12, the component mounting device 15 opens the carry-in inlet 15b. Then, the component mounting device 15 notifies the server 20 that the carry-in inlet 15b has been opened.

In step S13, the server 20 notifies the autonomous traveling vehicle 30 of the permission to carry in the tool 60 and the information of the tool 60. In step S14, the autonomous traveling vehicle 30 receives the carry-in permission and the tool information. In step S15, the autonomous traveling carriage 30 recognizes the position of the carry-in entrance 15b.

In step S16, the autonomous traveling carriage 30 determines whether or not the position of the carry-in entrance 15b is recognized. If the position of the carry-in entrance 15b cannot be recognized, the autonomous traveling carriage 30 notifies the server 20 of an error in step S17.

When the position of the carry-in entrance 15b can be recognized, in step S18 of FIG. 24, the autonomous traveling bogie 30 starts carrying in the tool 60 by the robot arm 40. In step S19, the autonomous traveling bogie 30 moves the robot arm 40 to a predetermined position. In step S20, the autonomous traveling carriage 30 notifies the server 20 that the delivery of the tool 60 by the robot arm 40 has been completed.

In step S21, the server 20 notifies the component mounting device 15 of the fact that the carry-in received from the autonomous traveling carriage 30 has been completed and the information of the carry-in tool 60. In step S22, the component mounting device 15 receives a notification from the server 20 and recognizes the position of the tool 60 based on the image pickup result by the substrate recognition image pickup unit 154b.

In step S23, the component mounting device 15 determines whether or not the position of the tool 60 has been recognized. If the position of the tool 60 cannot be recognized, in step S24, the component mounting device 15 notifies the server 20 of an error. When the position of the tool 60 can be recognized, in step S25, the component mounting device 15 receives and replaces the tool 60 carried in by the robot arm 40 by the mounting head 154a. In step S26, the component mounting device 15 notifies the server 20 of the end of replacement of the tool 60.

In step S27, the server 20 receives the notification of the end of replacement from the component mounting device 15, and notifies the autonomous traveling vehicle 30 of the end of replacement. In step S28, the server 20 determines if there is still a tool 60 to supply. If there is a tool 60 to be supplied, the server 20 notifies the autonomous traveling vehicle 30 and returns to step S18. When there is no tool 60 to be supplied, the server 20 notifies the autonomous traveling carriage 30 that the supply of the tool 60 has been completed.

In step S29, the autonomous traveling carriage 30 receives the end notification from the server and retracts the robot arm 40 from the component mounting device 15. In step S30, the autonomous traveling bogie 30 passes the evacuation end of the robot arm 40 to the server 20.

In step S31, the server 20 receives the evacuation end notification from the autonomous traveling carriage 30, and notifies the component mounting device 15 of the evacuation end notification. In step S32, the component mounting device 15 closes the carry-in inlet 15b. In step S33, the component mounting device 15 transmits the blockage of the carry-in inlet 15b to the server 20. In step S34, the server 20 receives the blockage of the carry-in inlet 15b, and ends the process of supplying the tool 60 to the component mounting device 15 by the autonomous traveling carriage 30.

(Effect of this embodiment)
In this embodiment, the following effects can be obtained.

In the present embodiment, as described above, the robot arm 40 for transporting the object used in the component mounting device 15 to the inside of the component mounting device 15 is provided. As a result, the object used inside the component mounting device 15 can be transported by the robot arm 40, so that the operator does not need to perform the work of transporting the object to the component mounting device 15. As a result, it is possible to reduce the work load of the operator when transporting the object used in the component mounting device 15 to the component mounting device 15. Further, unlike the case where an object is transported to the inside of the component mounting device 15 by an operator, it is not necessary to completely stop the operation of the component mounting device 15. As a result, it is possible to suppress a decrease in the efficiency of substrate manufacturing by the component mounting device 15. Further, since the robot arm 40 can convey an object when necessary for the component mounting device 15, the object to be used in the component mounting device 15 can be transported in the component mounting device 15 in case the object is required. There is no need to provide a storage space for storage. This makes it possible to reduce the size of the component mounting device 15. Further, since the object can be conveyed by the autonomous traveling bogie main body 31 and the robot arm 40, the object used in the plurality of component mounting devices 15 can be shared.

Further, in the present embodiment, as described above, the objects used in the component mounting device 15 are the backup pin 61a that supports the substrate S, the nozzle 62a that attracts the component E, the waste box 63 that discards the component E, and the object. , Includes a calibration jig 64 used for calibration of the component mounting device 15. As a result, it is possible to reduce the work load of the operator when transporting the backup pin 61a, the nozzle 62a, the waste box 63, and the calibration jig 64 to the component mounting device 15.

Further, in the present embodiment, as described above, the robot arm 40 is configured to convey the object used in the component mounting device 15 to the inside of the component mounting device 15 through the opening of the component mounting device 15. do. As a result, the robot arm 40 can be inserted into the component mounting device 15 through the opening, so that the robot arm 40 can easily convey an object inside the component mounting device 15.

Further, in the present embodiment, as described above, the autonomous traveling bogie main body 31 is provided with a camera 33 for detecting the position of the opening of the component mounting device 15. As a result, the position of the opening of the component mounting device 15 can be accurately acquired, so that the robot arm 40 can be accurately inserted into the opening of the component mounting device 15.

Further, in the present embodiment, as described above, the robot arm 40 is inserted so that the opening of the component mounting device 15 is directed toward the conveyor 152 that conveys the substrate S of the component mounting device 15 from the front of the component mounting device 15. Provided in. As a result, the robot arm 40 can be inserted into the inside of the component mounting device 15 from the front of the component mounting device 15 in a state where the autonomous traveling bogie main body 31 is positioned in front of the component mounting device 15.

Further, in the present embodiment, as described above, in a state where the robot arm 40 is connected to the connecting portion 70 of the component mounting device 15 with the autonomous traveling bogie main body 31 connected to the connecting portion 70 of the component mounting device 15, the object used in the component mounting device 15 is mounted on the component. It is configured to be conveyed inside the device 15. As a result, the autonomous traveling bogie main body 31 can be connected to the component mounting device 15 for positioning, so that the robot arm 40 can be stably inserted into the component mounting device 15.

Further, in the present embodiment, as described above, the robot arm 40 includes a horizontal moving portion 42 that expands and contracts along the horizontal direction. As a result, it is not necessary to provide a space for rotating the robot arm 40 in the horizontal direction orthogonal to the extension direction, as compared with the case of extending by rotating the horizontal moving portion 42. As a result, it is possible to suppress an increase in the space required for inserting the robot arm 40 inside the component mounting device 15.

Further, in the present embodiment, as described above, the robot arm 40 moves horizontally with a vertical moving unit 41 having a rotation axis that rotates in the vertical direction, a horizontal moving unit 42 connected to the vertical moving unit 41, and a horizontal moving unit 42. It includes a horizontal rotating portion 43 connected to the portion 42 and rotating in the horizontal direction, and a hand holding portion 44 connected to the horizontal rotating portion 43 and to which a different type of hand 45 can be attached and detached at the tip. As a result, the hand 45 held by the hand holding portion 44 of the robot arm 40 can be moved and rotated in the vertical direction and the horizontal direction. Further, the object can be conveyed in a state where the hand 45 suitable for the object to be conveyed by the robot arm 40 is attached to the hand holding portion 44.

Further, in the present embodiment, as described above, the autonomous traveling bogie main body 31 is provided with a mounting unit 50 on which a plurality of types of objects used in the component mounting device 15 are mounted. As a result, the autonomous traveling bogie main body 31 can convey a plurality of types of objects and supply them to the component mounting device 15.

Further, in the present embodiment, as described above, the robot arm 40 is fixed to the autonomous traveling bogie main body 31 so as not to move when the autonomous traveling bogie main body 31 is traveling. As a result, it is possible to suppress the movement of the robot arm 40 when the autonomous traveling bogie main body 31 is traveling.

Further, in the present embodiment, as described above, the movement control unit 37 for fixing the robot arm 40 to the autonomous traveling bogie main body 31 so as not to move when the autonomous traveling bogie main body 31 is running is provided. As a result, the robot arm 40 can be stably fixed to the autonomous traveling bogie main body 31 by the movement restricting unit 37.

Further, in the present embodiment, as described above, the robot arm 40 is removed from the component mounting device 15 by removing the component supply trolley 153b, and the component supply trolley 153b is removed from the component mounting device 15 through the opening. The object used in the component mounting device 15 is configured to be conveyed inside the component mounting device 15. As a result, the robot arm 40 can be inserted into the component mounting device 15 from the opening created by removing the component supply carriage 153b, so that it is not necessary to provide a dedicated opening. As a result, the robot arm 40 can supply an object to the existing component mounting device 15.

(Modification example)
It should be noted that the embodiments disclosed this time are exemplary in all respects and are not considered to be restrictive. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications (modifications) within the meaning and scope equivalent to the scope of claims.

For example, in the above embodiment, the objects used in the component mounting device as the board working device are a backup pin for supporting the board, a nozzle for sucking the component, a waste box for discarding the component, and calibration of the board working device. Although an example of the configuration including the calibration jig to be used is shown, the present invention is not limited to this. In the present invention, the object used in the board working device is at least one of a backup pin for supporting the board, a nozzle for sucking parts, a waste box for discarding parts, and a calibration jig used for calibrating the board working device. It suffices to include one.

Further, in the above embodiment, an example of the configuration in which the control unit for controlling the drive of the robot arm is provided in the autonomous traveling bogie main body is shown, but the present invention is not limited to this. In the present invention, the control unit that controls the drive of the robot arm may be provided on the robot arm.

Further, in the above embodiment, an example of a configuration in which a camera as a detection unit for detecting the position of an opening of the board work device is provided in the autonomous traveling bogie main body is shown, but the present invention is not limited to this. .. In the present invention, the detection unit for detecting the position of the opening of the substrate working device may be provided on the robot arm.

Further, in the above embodiment, an example of a configuration in which a plurality of mounting lines are provided in the substrate manufacturing system is shown, but the present invention is not limited to this. In the present invention, one mounting line may be provided in the substrate manufacturing system.

Further, in the above embodiment, an example of the configuration in which the hand holding portion fixes the hand with a plurality of claws is shown, but the present invention is not limited to this. In the present invention, the hand holding portion may fix the hand by a mechanism for moving the ball.

Further, in the above embodiment, an example of a configuration in which an autonomous traveling bogie conveys an object to a component mounting device as a board work device by performing communication via a server is shown, but the present invention is limited to this. I can't. In the present invention, the autonomous traveling trolley may convey an object to the substrate working apparatus by directly communicating with the substrate working apparatus and the autonomous traveling trolley.

Further, in the above embodiment, for convenience of explanation, the control processing is described using a flow-driven flow in which the control processing is sequentially performed along the processing flow, but the present invention is not limited to this. In the present invention, the control process may be performed by an event-driven type (event-driven type) process in which the process is executed in event units. In this case, it may be completely event-driven, or it may be a combination of event-driven and flow-driven.

10 Mounting line 11 Loader (board work equipment)
12 Printing machine (board work equipment)
13 Printing inspection machine (board work equipment)
14 Dispenser device (board work device)
15 Parts mounting equipment (board work equipment)
15b Carry-in entrance (opening)
16 Visual inspection equipment (board work equipment)
17 Reflow equipment (board work equipment)
18 Visual inspection equipment (board work equipment)
19 Unloader (board work equipment)
20 Server 30 Autonomous traveling trolley 31 Autonomous traveling trolley body (autonomous traveling trolley)
32 Control unit 33 Camera (detection unit)
37 Movement regulation part (movement regulation member)
40 Robot arm 41 Vertical movement part 42 Horizontal movement part 43 Horizontal rotation part 44 Hand holding part 45 Hand 50 Mounting part 61a Backup pin 62a Nozzle 63 Disposal box 64 Calibration jig 70 Connection part 100 Board manufacturing system 153b Parts supply trolley E Parts S board

Claims

A mounting line that includes a plurality of board work devices including component mounting devices that mount components on the board,
An autonomous traveling trolley that conveys objects used in the board work equipment of the mounting line, and
A board manufacturing system including a robot arm provided on the autonomous traveling carriage and transporting an object used in the board work device into the inside of the board work device.
The thing used in the board working device is at least one of a backup pin for supporting the board, a nozzle for sucking parts, a waste box for discarding parts, and a calibration jig used for calibrating the board working device. The substrate manufacturing system according to claim 1, comprising.
The substrate working apparatus has an opening leading to the inside.
The robot arm according to claim 1 or 2, wherein the robot arm is configured to convey an object used in the board work device into the inside of the board work device through an opening of the board work device. Board manufacturing system.
The substrate manufacturing system according to claim 3, further comprising a detection unit provided on the autonomous traveling carriage or the robot arm and for detecting the position of the opening of the substrate working device.
3. The board manufacturing system described in.
The board work device has a connecting portion for connecting and fixing the autonomous traveling carriage.
The robot arm is configured to convey an object used in the board work device to the inside of the board work device in a state where the autonomous traveling bogie is connected to the connecting portion of the board work device. , The substrate manufacturing system according to any one of claims 1 to 5.
The substrate manufacturing system according to any one of claims 1 to 6, wherein the robot arm includes a horizontally moving portion that expands and contracts along a horizontal direction.
The robot arm has a vertical moving portion having a rotation axis that rotates in the vertical direction, a horizontal moving portion connected to the vertical moving portion, and a horizontal moving portion connected to the horizontal moving portion and rotating in the horizontal direction. The substrate manufacturing system according to claim 7, further comprising a rotating portion and a hand holding portion connected to the horizontal rotating portion and capable of attaching and detaching different types of hands to the tip.
The board manufacturing system according to any one of claims 1 to 8, further comprising a mounting unit provided on the autonomous traveling carriage and on which a plurality of types of objects used in the board work device are mounted.
The substrate manufacturing system according to any one of claims 1 to 9, wherein the robot arm is fixed to the autonomous traveling vehicle so as not to move when the autonomous traveling vehicle is traveling.
The substrate manufacturing system according to claim 10, further comprising a movement restricting member that fixes the robot arm to the autonomous traveling vehicle so that it does not move when the autonomous traveling vehicle is traveling.
Further, a component supply carriage for holding a plurality of component supply devices for supplying components in the component mounting device is provided.
The robot arm is a robot arm that is used in the board work device through an opening created by removing the component supply trolley from the component mounting device and removing the component supply trolley from the component supply device. The substrate manufacturing system according to any one of claims 1 to 11, which is configured to be conveyed inside the substrate working apparatus.
An autonomous traveling trolley main body that transports objects used in the board work device of a mounting line including a plurality of board work devices including a component mounting device for mounting parts on a board.
An autonomous traveling trolley including a robot arm provided on the main body of the autonomous traveling trolley and transporting an object used in the substrate working apparatus into the inside of the substrate working apparatus.
The thing used in the board work equipment is at least one of a backup pin for supporting the board, a nozzle for sucking parts, a waste box for discarding parts, and a calibration jig used for calibrating the board work equipment. The autonomous traveling vehicle according to claim 13, which includes.
It is a board manufacturing method in a mounting line including a plurality of board working devices including a component mounting device for mounting components on a board.
An object used in the board work device of the mounting line is transported by an autonomous traveling trolley.
A substrate manufacturing method in which an object used in the substrate working apparatus is conveyed to the inside of the substrate working apparatus by a robot arm provided on the autonomous traveling carriage.