WO2022079839A1

WO2022079839A1 - Work system

Info

Publication number: WO2022079839A1
Application number: PCT/JP2020/038797
Authority: WO
Inventors: 茂人大山
Original assignee: 株式会社Fuji
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2022-04-21
Also published as: DE112020007697T5; JP7481478B2; JPWO2022079839A1

Abstract

This work system comprises a mounting system that is provided with mounting-related equipment and a mounting control device for performing a mounting process, and a transport system that is provided with an automatic transport vehicle and a transport control device for automatically transporting members used in the mounting process. In this work system, in a prescribed area around the mounting-related equipment, the mounting control device performs travel control of the automatic transport vehicle, and in areas other than the prescribed area, the transport control device performs travel control of the automatic transport vehicle.

Description

Working system

This specification discloses the working system.

Conventionally, a work system including a mounting system including mounting-related equipment such as a mounting device for mounting parts on a board and an automatic transfer system including an automatic guided vehicle for automatically transporting parts such as a parts supply unit for supplying parts has been used. It is known (see, for example, Patent Document 1). In this work system, the automatic transport vehicle is controlled by the automatic transport system, and when the automatic transport vehicle arrives at a predetermined position in front of the mounting device, an arrival notification is notified to the mounting system, and the mounting system that receives the arrival notification automatically automatically. Control the carrier to perform work related to replacement of parts such as parts supply units.

WO2020 / 003581A1

In the above-mentioned work system, it is not described that the operation status of the mounting-related equipment is taken into consideration when controlling the running of the automatic guided vehicle to a predetermined position in front of the mounting device. Therefore, the automatic guided vehicle in motion may collide with the operating location of the mounting-related equipment, the mobile equipment, or the like, which is not preferable. On the other hand, it is conceivable that the mounting system controls all the running of the automatic guided vehicles, but for that purpose, it is necessary to perform processing such as dispatching each automatic guided vehicle and avoiding collisions between the automatic guided vehicles. Not realistic.

The main purpose of this disclosure is to more appropriately control an automatic guided vehicle that automatically conveys members used in the mounting process.

This disclosure has taken the following steps to achieve the above-mentioned main objectives.

The working system of this disclosure is
A work system including a mounting system including mounting-related equipment and a mounting control device for performing mounting processing, and a transport system including an automatic transport vehicle for automatically transporting members used in the mounting process and a transport control device. ,
In a predetermined area around the mounting-related equipment, the mounting control device controls the traveling of the automatic guided vehicle, and in other areas other than the predetermined area, the transport control device controls the traveling of the automatic guided vehicle. The gist is that.

In the work system of the present disclosure, the mounting control device controls the traveling of the automatic guided vehicle in a predetermined area around the mounting-related equipment, and the transport control device controls the traveling of the automatic guided vehicle in other areas other than the predetermined area. conduct. As a result, it is possible to appropriately control the automatic guided vehicle so that it does not collide with the operating location of the mounting-related equipment within a predetermined area. On the other hand, since the mounting control device does not need to control the traveling of the automatic guided vehicle in other areas, it is possible to prevent the control load from becoming excessive. Therefore, it is possible to more appropriately control the automatic guided vehicle that automatically conveys the members used in the mounting process.

Explanatory drawing which shows an example of work system 1. Explanatory drawing which shows the outline of the structure of the mounting line 11. Explanatory drawing which shows the outline of the structure of the mounting apparatus 20. The block diagram which shows the structure about the control of a work system 1. A sequence showing an example of passing the AGV drive control. The flowchart which shows an example of AGV / loader control. The flowchart which shows the AGV / loader control of the modification. Explanatory drawing which shows the working system 1B of a modification. Explanatory drawing which shows the working system 1C of a modification.

Next, a mode for carrying out the invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of a work system 1. FIG. 2 is an explanatory diagram showing an outline of the configuration of the mounting line 11. FIG. 3 is an explanatory diagram showing an outline of the configuration of the mounting device 20. FIG. 4 is a block diagram showing a configuration related to control of the work system 1. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS.

The work system 1 includes a mounting system 10 for mounting a component on a substrate S (mounting work) and a transport system 50 for transporting various members used in the mounting process (transport work). The mounting system 10 includes two mounting lines 11 and a mounting control device 38. Further, the transport system 50 includes a plurality of automatic guided vehicles 55 (hereinafter referred to as AGV55), a charging station 57, and a transport control device 58.

A plurality of mounting-related equipment related to the mounting process are arranged on each mounting line 11. The mounting-related equipment includes, for example, one or more of a printing device 12, a printing inspection device 14, a storage 16, a mounting device 20, a mounting inspection device 28, a reflow device 30, a reflow inspection device 32, and the like. These are arranged side by side along the transport direction (X-axis direction) of the substrate S. Further, the mounting-related equipment of the present embodiment includes a loader 18. The mounting lines 11 may have the same configuration or different configurations. In the present embodiment, as will be described later, in the area on the mounting system 10 side, which is the area around the mounting line 11, the traveling control of the AGV55 is performed on the mounting system 10 side. This area is referred to as a mounting side control area A1 (predetermined area) (see the dotted line in FIG. 1). Further, in the area on the transport system 50 side (non-mounting side control area, setup area) other than the mounting side control area A1, the traveling control of the AGV55 is performed on the transport system 50 side. This area is referred to as a transport side control area A2 (see the one-dot chain line in FIG. 1).

The printing device 12 prints on the substrate S (see FIG. 3) by pushing the solder into the pattern holes formed in the screen mask. The print inspection device 14 inspects the state of the solder printed by the printing device 12. The mounting inspection device 28 inspects the mounting state of the components mounted on the board S by the mounting device 20. The reflow device 30 melts the solder by heating the substrate S on which the components are arranged on the solder, and then cools the solder to electrically connect and fix the components on the substrate S. The reflow inspection device 32 inspects the state of the parts on the substrate S after the reflow.

A plurality of mounting devices 20 are arranged along the transport direction of the board S, and components are mounted on the board S. As shown in FIG. 3, the mounting device 20 includes a mounting unit 22 and a feeder 24. The mounting unit 22 is a unit that collects parts by a mounting head equipped with a collecting member such as a nozzle and mounts them on the substrate S. The feeder 24 is configured as a tape feeder to which a reel wound with a tape for holding the parts at a predetermined pitch is detachably attached, and the tape is sent out by rotating the reel to supply the parts.

The loader 18 is configured to be movable within a moving area along the transport direction of the substrate S on the front side of the plurality of mounting devices 20 and the storage 16. The loader 18 moves within the moving area and automatically replaces (collects and replenishes) the members used in the mounting process. For example, the loader 18 automatically replaces the feeder 24, which is a work unit that can be replaced with respect to the mounting device 20, but the mounting unit 22 includes a head, a collecting member such as a nozzle, a solder accommodating member, a screen mask, and the like. The members used in the mounting process may be replaced automatically.

The storage 16 is an in-line storage that stores various members used in the mounting process in each mounting line 11, and stores, for example, a feeder 24. In the storage 16, the worker M replenishes and collects the feeder 24. Further, the loader 18 can automatically replace the feeder 24 with respect to the storage 16, and can take out the necessary feeder 24 from the storage 16 and supply it to the mounting device 20, or can supply the used feeder 24 from the mounting device 20. Take it out and collect it in the storage 16. Further, in the storage 16, the AGV 55 can also replenish and collect the feeder 24. That is, the storage 16 is shared by the worker M, the loader 18, and the AGV 55, and the feeder 24 is taken in and out.

The mounting control device 38 is a general-purpose computer including a CPU, ROM, RAM, HDD, etc., and is connected to an input device such as a keyboard and a mouse and an output device such as a display. A storage device such as an HDD of the mounting control device 38 stores a production program of the substrate S and production information related to the production of the substrate S. The production program defines the order in which components are mounted on the substrate S, the number of components produced on the substrate S, and the like. Further, the production information includes information indicating the printing position of the solder on the substrate S, information on the components mounted on the substrate S, mounting positions of the components, and the like. In the component information, in addition to the component types mounted by each mounting device 20, the inventory status of the components includes the arrangement status of the feeder 24 in each mounting device 20 and the storage 16. In the production of the substrate S, the mounting control device 38 includes a printing device 12, a printing inspection device 14, a loader 18, a mounting device 20, a mounting inspection device 26, a reflow device 30, and a reflow inspection device 32 based on a production program and production information. Various command signals are given to such as. Further, the mounting control device 38 is configured to be wirelessly communicatively connected to the AGV55, and the traveling control of the AGV55 is possible. Further, the mounting control device 38 is communicably connected to the transport control device 58, and exchanges information on the production status of the substrate S, information on the feeder 24 necessary for production, information on control of the AGV55, and the like.

Although not shown, the AGV55 is provided with a motor for rotationally driving the wheels, a battery for supplying electric power, and the like, and automatically transports members used for mounting processing such as a feeder 24 between the warehouse 60 and the storage 16. do. The AGV55 may, for example, take out the used feeder 24 from the storage 16 and automatically transport it to the warehouse 60 for storage, or take out the necessary feeder 24 from the warehouse 60 and automatically transport it to the storage 16 for storage. .. The AGV55 automatically conveys the feeder 24, but may automatically convey members used in the mounting process, such as a head, a nozzle and other collecting members, a solder accommodating member, and a screen mask included in the mounting unit 22. Just do it. In the warehouse 60, various members such as the feeder 24 housed by the worker M are stored. The charging station 57 is a facility for charging one or a plurality of AGV55 batteries parked at a predetermined charging position. The charging station 57 may be configured such that when the AGV 55 is parked at a predetermined charging position, a connector is connected to enable power supply, or the charging station 57 may be configured to be able to supply power in a non-contact manner.

Further, in the present embodiment, an intermediate storage 62 capable of storing various members is also provided between the warehouse 60 and the storage 16. The AGV 55 can automatically put in and take out members such as the feeder 24 to and from the intermediate storage 62. In the warehouse 60 and the intermediate storage 62, setup work such as the worker M removing the reel from the used feeder 24 and attaching a new reel to the feeder 24 is also performed. The charging station 57, the warehouse 60, the intermediate storage 62, and the like are arranged in the transport side control area A2.

The transport control device 58 is a general-purpose computer including a CPU, ROM, RAM, HDD, etc., and is connected to an input device such as a keyboard and a mouse and an output device such as a display. The transport control device 58 is configured to be wirelessly communicatively connected to the AGV55, and controls the traveling of the AGV55 and acquires the state such as the remaining battery level of the AGV55. The transport control device 58 also controls the charging of the AGV 55 at the charging station 57. In addition, the transport control device 58 has a transport schedule and a charging schedule of each AGV55 based on the production status of the substrate S transmitted from the mounting control device 38, information on the feeder 24 required for production, the remaining battery level of the AGV55, and the like. Create a driving plan for AGV55 including the schedule of vehicle allocation.

In the work system 1 configured in this way, as described above, the mounting control device 38 performs the traveling control of the AGV55 in the mounting side control area A1, and the transport control device 58 performs the traveling control of the AGV55 in the transporting side control area A2. As shown in FIG. 1, the mounting-side control area A1 and the transport-side control area A2 have overlapping areas DA that overlap each other (hatched portion in FIG. 1). In the overlapping area DA, both the mounting control device 38 and the transport control device 58 can control the traveling of the AGV55, and the control subject of the AGV55 can be switched between the two control devices. When the AGV55 is moved back and forth between the mounting side control area A1 and the transport side control area A2, the AGV55 is moved to a predetermined switching position defined in the overlapping area DA to switch the control main body. Therefore, traveling control is performed with the destination of the AGV55 as the switching position in the overlapping area DA. The predetermined switching position is, for example, the position of AGV55 (1) in FIG. 1, and a plurality of other positions may be defined. Hereinafter, the details of the processing related to the control of the AGV55 will be described. FIG. 5 is a sequence showing an example of passing the travel control of the AGV.

First, the transport control device 58 determines whether or not the AGV 55 to be moved to the mounting side control area A1 has arrived at the switching position in the overlapping area DA (S100). When the transport control device 58 determines that the AGV55 has arrived at the switching position in the overlapping area DA, the transport control device 58 sends an arrival notification including information necessary for control switching such as identification information of the AGV55 and information of the feeder 24 being transported. It is transmitted to the mounting control device 38 (S110). Further, the transport control device 58 cancels the communication connection with the AGV 55 arriving at the switching position in the overlapping area DA, ends the traveling control (S120), and proceeds to S130. When the transport control device 58 determines in S100 that the AGV55 has not arrived at the switching position, it skips S110 and S120 and proceeds to S130.

On the other hand, the mounting control device 38 determines whether or not the arrival notification transmitted from the transport control device 58 has been received (S200). When the mounting control device 38 determines that the arrival notification has been received, it acquires information such as the identification information of the AGV55 included in the arrival notification, establishes a communication connection with the AGV55 (S210), and establishes the communication connection with the AGV55 (S210), and the AGV55 in the mounting side control area A1. (S220). If the mounting control device 38 determines that the arrival notification has not been received in S200, the mounting control device 38 skips S210 and S220 and proceeds to S230. The details of the traveling control of S220 will be described later, but when the AGV55 reaches the destination such as the storage 16 and completes the necessary work, the mounting control device 38 travels the AGV55 to the switching position in the overlapping area DA. Control.

Then, the mounting control device 38 determines whether or not the AGV55 has arrived at the switching position in the overlapping area DA (S230). When the mounting control device 38 determines that the AGV 55 has arrived at the switching position, the mounting control device 38 sends an arrival notification including information necessary for control switching, such as identification information of the AGV 55 and information of the feeder 24 being transported, to the transport control device 58. Transmit (S240). Further, the mounting control device 38 cancels the communication connection with the AGV55 arriving at the switching position in the overlapping area DA, ends the traveling control (S250), and returns to S200. When the mounting control device 38 determines in S230 that the AGV55 has not arrived at the switching position, it skips S240 and S250 and returns to S200.

On the other hand, the transport control device 58 determines whether or not the arrival notification transmitted from the mounting control device 38 has been received (S130). When the transport control device 58 determines that the arrival notification has been received, it acquires information such as the identification information of the AGV55 included in the arrival notification, establishes a communication connection with the AGV55 (S140), and establishes the communication connection with the AGV55 (S140), and the AGV55 in the transport side control area A2. (S150). Further, when the transport control device 58 determines that the arrival notification has not been received in S130, it skips S140 and S150 and returns to S100. In the travel control by the transport control device 58, the AGV 55 is moved to the warehouse 60 or the intermediate storage 62 to move the feeder 24 in and out, or is moved to the charging station 57 to charge the AGV 55 based on the travel plan described above.

Subsequently, the traveling control of the AGV55 performed by the mounting control device 38 will be described together with the movement control of the loader 18. FIG. 6 is a flowchart showing an example of AGV / loader control. First, the mounting control device 38 determines whether or not the loader 18 is working in the storage 16 (S300), and whether or not the loader 18 is moving with the storage 16 as the destination (S310). do. When the mounting control device 38 determines that the loader 18 is working in the storage 16 or is moving with the storage 16 as the destination, the AGV55 is made to stand by at a predetermined position (S320), and the work of the loader 18 is completed. Wait for (S330). This predetermined position is a position where the AGV 55 does not interfere even when the loader 18 is working in front of the storage 16, and may be the above-mentioned switching position or a position moved from the switching position.

Further, when the mounting control device 38 determines that the work of the loader 18 is completed, the loader 18 is moved (evacuated) from the storage 16 (S340), and the work of the loader 18 other than the storage 16 is permitted (S340). S350). That is, the mounting control device 38 prohibits the work of the loader 18 in the storage 16 and keeps them away from the storage. Further, the mounting control device 38 causes the loader 18 to perform work such as automatic replacement of the feeder 24 for the mounting device 20 so that the loader 18 does not interfere with the AGV 55 working in the storage 16.

Next, the mounting control device 38 performs traveling control so that the AGV55 travels to the storage 16 (S360). When the AGV 55 arrives at the storage 16, the mounting control device 38 causes the AGV 55 to perform operations such as moving the feeder 24 in and out of the storage 16 (S370). Then, when the work of the AGV55 is completed, the mounting control device 38 retracts the completed AGV55 from the storage 16 to the switching position in the overlapping area DA (S380), and causes the loader 18 to work in the storage 16. Allow (S390) to end the AGV / loader control process.

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The mounting system 10 of the present embodiment corresponds to the mounting system of the present disclosure, the AGV55 corresponds to the automatic transport vehicle, the transport system 50 corresponds to the transport system, the work system 1 corresponds to the work system, and the mounting control device 38. Corresponds to the mounting control device, and the transfer control device 58 corresponds to the transfer control device. The loader 18 corresponds to an automatic switching device, and the storage 16 (work area in front of the storage 16) corresponds to a shared work area. The mounting device 20 corresponds to the mounting device.

In the work system 1 described above, in the mounting side control area A1 around the mounting related equipment, the mounting control device 38 controls the traveling of the AGV55, and in the transporting side control area A2, the transport control device 58 controls the traveling of the AGV55. conduct. As a result, the AGV 55 can be appropriately controlled so as not to collide with the loader 18 or the like in the mounting side control area A1. On the other hand, since it is not necessary for the mounting control device 38 to control the traveling of the AGV 55 in the transport side control area A2, it is possible to prevent the control load from becoming excessive.

Further, when one of the loader 18 and the AGV55 is working in the storage 16, the mounting control device 38 controls the other of the loader 18 and the AGV55 so as not to move to the storage 16, so that the two collide with each other. Can be appropriately prevented.

Further, at the switching position in the overlapping area DA between the mounting side control area A1 and the transport side control area A2, the mounting control device 38 and the transport control device 58 can smoothly transfer the control of the AGV55.

It should be noted that the present disclosure is not limited to the above-described embodiment, and it goes without saying that the present disclosure can be carried out in various embodiments as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, when the loader 18 is working in the storage 16 or when the loader 18 is moving to the storage 16, the AGV55 is made to stand by, and when the AGV55 is made to work in the storage 16. The loader 18 is prohibited from moving to the storage 16 as a destination. That is, when one of the loader 18 and the AGV 55 is working in the storage 16, the other is prevented from moving with the storage 16 as the destination, but the present invention is not limited to this. FIG. 7 is a flowchart showing the AGV / loader control of the modified example. In the modified example, the same process as that of the embodiment is assigned the same step number, and the description thereof will be omitted.

In the modified example of FIG. 7, when the mounting control device 38 determines in S310 that the loader 18 is moving to the storage 16, the loader 18 stops moving (S322) and proceeds to S350. That is, even while the loader 18 is moving to the storage 16 as a destination, in order to give priority to the work of the AGV55, the movement of the loader 18 is temporarily stopped and the AGV55 is made to perform the work in the storage 16.

Further, in the modified example of FIG. 7, the mounting control device 38 determines whether or not the work of the loader 18 has been delimited when the AGV55 is made to stand by in S320 (S324), and when it is determined that the work is delimited, the loader 18 is determined. (S326), the loader 18 is moved from the storage 16. For example, when the plurality of feeders 24 collected by the loader 18 are stored in the storage 16 and then the plurality of feeders 24 are newly taken out from the storage 16, the work of accommodating the feeder 24 and the work of taking out the new feeder 24 are performed. Can be divided into. Further, when the number of feeders 24 that can be taken in and out at one time is larger than the predetermined number of feeders 24 to be taken in and out of the storage 16, the work can be separated each time the predetermined number of feeders 24 are taken in and out. As described above, in the modified example, when the loader 18 is working in the storage 16 and the AGV55 needs to work in the storage 16 (same area), the work of the loader 18 is interrupted at the work break and the storage 16 is interrupted. After moving from, let the AGV55 work in the storage 16.

Then, the mounting control device 38 determines whether or not there is work of the loader 18 stopped in S322 or interrupted in S326 after moving the AGV55 whose work has been completed in S380 from the storage 16 (S392), and stopped. Alternatively, if there is interrupted work, the loader 18 is allowed to move to the storage 16 and the work is permitted (S394), and the AGV / loader control process is terminated. As described above, in the modified example, since the work of the AGV55 can be prioritized and the work waiting (standby time) of the AGV55 can be reduced, the AGV55 can be quickly returned to the transport side control area A2 to improve the transport efficiency of the feeder 24. Can be done. Further, since the loader 18 may automatically replace the feeder 24 in a place other than the storage 16, even if the work of the AGV55 is prioritized, the work efficiency does not significantly decrease. The AGV / loader control of the embodiment of FIG. 6 and the AGV / loader control of the modified example of FIG. 7 may be switched by an operator or the like via mode selection or the like. For example, the mounting control device 38 may execute the AGV / loader control of the embodiment in the normal mode, and may execute the AGV / loader control of the modified example in the AGV priority mode.

In the above-described embodiment, the mounting control device 38 controls the AGV55 with the area around each mounting line 11 as the mounting side control area A1, but the present invention is not limited to this. For example, in addition to the periphery of the mounting line 11, the area around the mounting-related equipment controlled by the mounting control device 38 may be used as the mounting side control area. FIG. 8 is an explanatory diagram showing a working system 1B of a modified example. In the work system 1B, the loader 18B is also arranged in the intermediate storage 62, and the feeder 24 can be moved in the intermediate storage 62. Further, the loader 18B is controlled by the mounting control device 38. In this modification, the mounting side control area A1b includes the area around the intermediate storage 62 in addition to the peripheral area of the mounting line 11, and the mounting control device 38 controls the traveling of the AGV55 in the mounting side control area A1b. .. Therefore, it is possible to appropriately prevent the loader 18B arranged in the intermediate storage 62 other than the mounting line 11 from colliding with the AGV55. In this modification, the transport control device 58 controls the traveling of the AGV55 in the transport side control area A2b excluding the area around the intermediate storage 62 from the transport side control area A2 of the embodiment.

Further, the mounting side control area A1 in which the mounting control device 38 controls the AGV55 may be set as follows. FIG. 9 is an explanatory diagram showing a working system 1C of a modified example. In this modification, the area required for the loader 18 of the mounting line 11 to move and the area required for the loader 18 to be prevented from coming into contact with the loader 18 even if the AGV55 meanders slightly when traveling along the moving direction of the loader 18. The area is defined in the mounting side control area A1c. In the mounting side control area A1c, the mounting control device 38 controls the traveling of the AGV55. Further, even in the vicinity of the mounting line 11, the transport control device 58 controls the traveling of the AGV55 as the transport side control area A2c except for the mount side control area A1c. As a result, the mounting side control area A1c can be made as small as possible, and the control load of the mounting control device 38 can be suppressed from becoming excessive.

In the embodiment, the mounting system 10 includes the loader 18, but the present invention is not limited to this, and the loader 18 may not be provided. Even if the mounting system 10 does not include the loader 18, it is necessary to prevent interference with operating parts such as operating devices other than the loader 18 and opening / closing points of mounting-related equipment. Further, the AGV 55 is not limited to the one that works in the work area (storage 16) shared with the loader 18, and may work in a work area other than the shared work area even if the loader 18 is present. Further, if the mounting control device 38 controls the traveling of the AGV55 so as to avoid the position of the worker as a configuration capable of acquiring the position information of the workers around the mounting line 11, the AGV55 collides with the surrounding workers. Can be properly prevented from doing so. Further, the mounting control device 38 may prioritize either the work of the operator or the work of the AGV55 to control the traveling of the AGV55. Further, the mounting control device 38 may set a priority among the work of the operator, the work of the AGV55, and the work of the loader 18 to control the traveling of the AGV55.

In the embodiment, both the case where the AGV55 enters the mounting side control area A1 from the transport side control area A2 and the case where the AGV 55 enters the transport side control area A2 from the mounting side control area A1 are the same switching positions in the overlapping area DA. The control was handed over at, but it is not limited to this. In the former case and the latter case, the control of AGV55 may be passed at different switching positions in the overlapping area DA, or the control of AGV55 may be passed in different overlapping areas. In addition, the control is not limited to the one that sets the overlapping area for passing the control, and the control may be passed in a different area or position each time while considering the traveling destination (destination) of the AGV55 and the traveling situation of another AGV55. good.

Here, the working system of the present disclosure may be configured as follows. For example, in the work system of the present disclosure, the mounting-related equipment includes an automatic switching device configured to enable automatic replacement and movement of the member and controlled by a mounting control device, the automatic replacement device, and the automatic transport vehicle. The mounting control device includes a shared work area for shared work, and the mounting control device does not move to the shared work area when one of the automated switching device and the automated transport vehicle is working in the shared work area. The other of the automatic switching device and the automatic transport vehicle may be controlled. In this way, when one of the automatic switching device and the automatic guided vehicle is working in the common work area, it is possible to appropriately prevent the two from colliding with each other. The other of the automatic switching device and the automatic guided vehicle can work outside the shared work area as long as it does not move to the shared work area.

In the work system of the present disclosure, the mounting-related equipment is shared by an automatic switching device that is configured to enable automatic replacement and movement of the member and is controlled by a mounting control device, and the automatic replacement device and the automatic transport vehicle. The mounting control device includes a shared work area in which work is performed, and when the automatic exchange device is working in the common work area and the automatic transport vehicle needs to work in the same area, the work is performed at a predetermined division. After interrupting and moving the automatic transfer device, the automatic transfer vehicle is made to perform work in the common work area, and when the work of the automatic transfer vehicle is completed, the automatic transfer vehicle is moved and then the automatic exchange device. Controls the automatic switching device and the automatic transport vehicle so that It may be controlled. By doing so, since the work of the automatic guided vehicle is prioritized in the common work area and the work waiting is reduced, the automatic guided vehicle can be quickly returned to another area to improve the transportation efficiency of the members. Since the automatic switching device may automatically replace the members in a place other than the common work area, the work efficiency does not significantly decrease even if the work of the automatic guided vehicle is prioritized.

In the work system of the present disclosure, the predetermined area and the other area are provided with overlapping areas overlapping each other, and one of the mounting control device and the transport control device is used to control the traveling of the automatic transport vehicle. When the automatic transport vehicle arrives at the overlapping area, a notification indicating that the vehicle has arrived at the overlapping area is transmitted to the other of the mounting control device and the transport control device, and the mounting control device and the transport control device are transmitted. On the other hand, when the notification is received, the traveling control of the automatic carrier vehicle may be performed from the overlapping area. By doing so, the mounting control device and the transfer control device can smoothly transfer the control of the automatic guided vehicle.

In the work system of the present disclosure, the mounting-related equipment includes a plurality of mounting devices in which the members are interchangeably attached and arranged side by side in a predetermined direction, and automatic replacement of the members with respect to the plurality of mounting devices. The predetermined area includes the automatic switching device configured to be movable along the predetermined direction and controlled by the mounting control device, and the predetermined area is the movement of the automatic switching device and the automatic switching in the vicinity of the mounting related equipment. It may be defined in the area required to prevent contact with the switching device. By doing so, the area in which the mounting control device controls the automatic guided vehicle can be made as small as possible, and the control load of the mounting control device can be suppressed from becoming excessive.

This disclosure can be used for a work system including a mounting system and a transport system.

1,1B, 1C work system, 10 mounting system, 11 mounting line, 12 printing device, 14 printing inspection device, 16 storage, 18,18B loader, 20 mounting device, 22 mounting unit, 24 feeder, 28 mounting inspection device, 30 reflow device, 32 reflow inspection device, 38 mounting control device, 50 transport system, 55 automatic transport vehicle (AGV), 57 charging station, 58 transport control device, 60 warehouse, 62 intermediate storage, A1, A1b, A1c mounting side Control area, A2, A2b, A2c transport side control area, DA overlapping area, M worker, S board.

Claims

A work system including a mounting system including mounting-related equipment and a mounting control device for performing mounting processing, and a transport system including an automatic transport vehicle for automatically transporting members used in the mounting process and a transport control device. ,
In a predetermined area around the mounting-related equipment, the mounting control device controls the traveling of the automatic guided vehicle, and in other areas other than the predetermined area, the transport control device controls the traveling of the automatic guided vehicle. Working system.
The work system according to claim 1.
The mounting-related equipment includes an automatic switching device that is configured to enable automatic replacement and movement of the member and is controlled by a mounting control device, and a shared work area in which the automatic replacement device and the automatic guided vehicle perform work in common. Including and
When one of the automatic switching device and the automatic guided vehicle is working in the shared work area, the mounting control device is the other of the automatic switching device and the automatic guided vehicle so as not to move to the shared work area. A working system that controls.
The work system according to claim 1.
The mounting-related equipment includes an automatic switching device that is configured to enable automatic replacement and movement of the member and is controlled by a mounting control device, and a shared work area in which the automatic replacement device and the automatic guided vehicle perform work in common. Including and
When the automatic guided vehicle needs to work in the same area while the automatic switching device is working in the common work area, the mounting control device interrupts the work at a predetermined break and moves the automatic switching device. After that, the automatic guided vehicle is made to perform work in the common work area, and when the work of the automatic guided vehicle is completed, the automatic guided vehicle is moved and then the automatic exchange device resumes the work. And the automatic guided vehicle, and when the automatic guided vehicle is working in the shared work area, the automatic exchange device is controlled so as not to move to the shared work area.
The work system according to any one of claims 1 to 3.
The predetermined area and the other area are provided with overlapping areas that overlap each other.
When one of the mounting control device and the transport control device controls the traveling of the automatic guided vehicle and the automatic guided vehicle arrives at the overlapping area, the mounting control device notifies that the automatic guided vehicle has arrived at the overlapping area. And to the other of the transfer control devices,
A work system in which the other of the mounting control device and the transport control device controls the traveling of the automatic guided vehicle from the overlapping area when the notification is received.
The work system according to any one of claims 1 to 4.
In the mounting-related equipment, a plurality of mounting devices in which the members are interchangeably attached and arranged side by side in a predetermined direction, and automatic replacement of the members and movement along the predetermined direction with respect to the plurality of mounting devices. Includes automatic switching equipment, which is configured and controlled by the mounting control unit.
The predetermined area is a work system defined as an area around the mounting-related equipment necessary for the movement of the automatic switching device and the prevention of contact with the automatic switching device.