WO2023062755A1

WO2023062755A1 - Work device and mounting system

Info

Publication number: WO2023062755A1
Application number: PCT/JP2021/037936
Authority: WO
Inventors: 篤規平野
Original assignee: 株式会社Fuji
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2023-04-20

Abstract

This work device comprises: a work device body that can move along a mounting line; a detection sensor that can detect a distance and an angle at each detection point of an obstacle within a detection range surrounding the work device body; a storage unit that previously stores profile information of a line constituting member installed on a movement path of the work device body; and a determining unit. When an obstacle has been detected by the detection sensor, the determining unit determines whether the obstacle is a system constituting member or an obstacle other than the system constituting member by comparing the profile information about the obstacle obtained on the basis of the distance and the angle of each detection point of the obstacle and the profile information of a line constituting member stored in the storage unit. The determining unit allows movement of the work device body when it has been determined that the obstacle is a system constituting member and prohibits movement of the work device body until the obstacle is not detected when it has been determined that the obstacle is an obstacle other than the system constituting member.

Description

Working equipment and mounting system

This specification discloses a work device and a mounting system.

Conventionally, as this type of work device, an autonomous mobile robot equipped with an obstacle detection device that detects obstacles such as people, pillars, walls, and fixed objects has been proposed (see Patent Document 1, for example). The obstacle detection device measures the three-dimensional coordinates of the surface of the obstacle, and associates the measured three-dimensional coordinates with a continuous plane of a predetermined size or more in the vertical direction to recognize objects to be identified, excluding environment-fixed obstacles. and then extract individual obstacle candidates. Then, the obstacle detection device stratifies the three-dimensional coordinate data of the obstacle candidates in the vertical height direction to form feature quantity combination data, which is compared with the combination reference data of the obstacle model to identify the obstacle.

JP 2004-326264 A

Although the device described in Patent Document 1 describes the identification of obstacles, it includes a plurality of component mounters that constitute a mounting line and a working device that moves along the mounting line to supply necessary components. , there is no mention of distinguishing between the line components installed on the movement path of the working device and other interfering objects, and how to deal with the interfering objects after they are identified.

The present disclosure provides a work device for supplying necessary components to a plurality of component mounters that constitute a mounting line, in which line components and other components are installed on a movement path of the work device with a simple configuration. The main purpose is to identify interfering objects and respond appropriately.

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

A working device according to the present disclosure is a working device that supplies necessary components to a plurality of component mounters that constitute a mounting line, and includes: a working device main body movable along the mounting line; and the working device main body. a detection sensor that is installed in a detection range around the working device body and is capable of detecting the distance and angle of each detection point of an interfering object within a detection range around the working device body; A storage unit for pre-storing outline information of a line component installed on a path, and when an interfering object is detected by the detection sensor, the information is obtained based on the distance and angle of each detection point of the interfering object. By comparing the outer shape information of the interfering object with the outer shape information of the line constituting member stored in the storage unit, it is determined whether the interfering object is the system constituting member or other interfering object. If it is determined to be a system component, movement of the working device main body is permitted, and if it is determined that the interfering object is an interfering object other than the above, movement of the working device main body is prohibited until the interfering object is no longer detected. and a determination unit.

The work device of the present disclosure includes a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within a detection range around the work device body, and is installed on the movement path of the work device body. Information on the external shape of the constituent member is stored in advance in the storage unit. When an interfering object is detected by a detection sensor, the work device includes outline information of the interfering object obtained based on the distance and angle of each detection point of the interfering object and outline information of the line constituting member stored in the storage unit. is compared to determine whether the interfering object is a system component or other interfering object. When the work device determines that the interfering object is a system component, the work device permits movement of the work device main body. prohibit the movement of As a result, it is possible to identify the line component installed on the movement path of the working device and other interfering objects with a simple configuration, and to deal with them appropriately.

A mounting system of the present disclosure includes a plurality of component mounters that constitute a mounting line, and a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within a surrounding detection range along the mounting line. A work device that moves to supply necessary components to the plurality of component mounters, and a line component member that constitutes a part of the mounting line and is installed on a movement path of the work device. A mounting system, comprising: a storage unit for pre-storing outer shape information of the line constituent member; and the angle of the interfering object is compared with the external shape information of the line-constituting member stored in the storage unit to determine whether the interfering object is the system-constituting member or other interfering object. If it is determined that the interfering object is the system component, movement of the work device is permitted, and if it is determined that the interfering object is other interfering object, the work is continued until the interfering object is no longer detected. and a determination unit for prohibiting movement of the device.

The mounting system of the present disclosure includes a plurality of component mounters constituting a mounting line, a work device including a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within a detection range, and a work device. The apparatus includes a line component installed on the moving route, a storage unit for pre-storing outline information of the line component, and a determination unit. The judging section, when an interfering object is detected by a detection sensor during movement of the work device, provides information on the outline of the interfering object and the outline of the line component obtained based on the distance and angle of each detection point of the interfering object. By comparing the information, it is determined whether the interfering object is a system component or other interfering object. When the determining unit determines that the interfering object is a system component, it permits movement of the working device, and when determining that the interfering object is any other interfering object, the determining unit prohibits movement of the working device until the interfering object is no longer detected. restrict. As a result, it is possible to identify the line component installed on the movement path of the working device and other interfering objects with a simple configuration, and to deal with them appropriately.

1 is a schematic configuration diagram of a component mounting system; FIG. It is a schematic block diagram of a component mounter and a feeder stand. It is a schematic block diagram of a feeder. 3 is a schematic configuration diagram of a loader; FIG. It is a schematic block diagram of a component mounter and a tray feeder. FIG. 2 is a block diagram showing electrical connections in the component mounting system; It is an explanatory view explaining a monitoring area of a monitoring sensor. 4 is a flowchart showing an example of work processing executed by a loader control device; FIG. 5 is an explanatory diagram showing how a monitoring sensor detects a tray feeder; FIG. 5 is an explanatory diagram showing how a monitoring sensor detects a tray feeder; FIG. 5 is an explanatory diagram showing how a monitoring sensor detects a tray feeder; FIG. 5 is an explanatory diagram showing how a monitoring sensor detects a tray feeder; It is explanatory drawing which shows a mode that a person is detected by a monitoring sensor.

Next, a mode for carrying out the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a component mounting system. FIG. 2 is a schematic configuration diagram of a component mounter and a feeder stand. FIG. 3 is a schematic configuration diagram of a feeder. FIG. 4 is a schematic configuration diagram of the loader. FIG. 5 is a schematic configuration diagram of a component mounter and a tray feeder. FIG. 6 is a block diagram showing electrical connections in the component mounting system. 1, 2, 4 and 5, the horizontal direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the vertical direction is the Z-axis direction.

The component mounting system 10 produces a board S on which components are mounted, and as shown in FIG. 20E), a mounting inspection device (not shown), a reflow oven 16, a loader 50, a plurality of (two) feeder storages 70, and a management device 90 that manages the entire system. The printing device 12 prints solder on the surface of the substrate S. FIG. The print inspection device 14 inspects the state of solder printed by the printer 12 . The component mounting apparatus 20 picks up a component with a suction nozzle (picking member) and mounts it on the substrate S. FIG. The mounting inspection device inspects the mounting state of the components mounted by the component mounting device 20 . The reflow furnace 16 heats the board S to melt the solder on the board S and solder the mounted components. The printing device 12, the print inspection device 14, the plurality of component mounting devices 20, the mounting inspection device, and the reflow furnace 16 are arranged in this order from upstream along the transport direction of the substrate S to form a mounting line (production line).

As shown in FIG. 2, the component mounting apparatus 20 includes a component supply unit 21 that supplies components, a substrate transport device 22 that transports the board S from left to right, and picks up the components supplied from the component supply unit 21. a head 25 for mounting on the substrate S by doing so, a head moving device 24 for moving the head 25 in the horizontal direction (XY-axis directions), and a mounting control device 29 (see FIG. 6). Although not shown, the head 25 has a suction nozzle for sucking a component and an elevating device for raising and lowering the suction nozzle. The head moving device 24 has a slider 24a to which the head 25 is attached, and a motor (for example, a linear motor) that moves the slider 24a in horizontal directions (XY directions).

The component supply unit 21 is provided in the front part of the component mounting apparatus 20, and the tape feeder 30 (see FIG. 3) and the tray feeder 80 (see FIG. 5) are detachably attached to the component supply unit 21. As shown in FIGS. 3 and 6, the tape feeder 30 has a reel 32 on which a tape containing components at predetermined intervals is wound. supply. The tray feeder 80 has a tray in which components are arranged in a row, and supplies components by drawing out the tray by means of a tray feeding mechanism.

The component mounting apparatus 20 also includes a mark camera 26, a parts camera 27, a nozzle stocker 28, and the like. The mark camera 26 captures an image of a reference mark attached to the substrate S from above in order to detect the position of the substrate S. As shown in FIG. The parts camera 27 captures an image of the part sucked by the sucking nozzle from below in order to detect sucking errors and sucking deviations. The nozzle stocker 28 stocks a plurality of suction nozzles of different sizes.

The mounting control device 29 is composed of a well-known CPU 29a, ROM 29b, RAM 29c, storage device 29d such as a hard disk or SSD, and the like. The mounting control device 29 receives image signals and the like from the mark camera 26 and the parts camera 27 . The mounting control device 29 also outputs drive signals to the substrate transfer device 22, the head 25, the head moving device 24, and the like.

Also, the mounting control device 29 is communicably connected to the feeder control device 39 of the tape feeder 30 mounted on the feeder base 40 via

connectors

35 and 45 . When the tape feeder 30 is attached, the mounting control device 29 receives feeder information such as the feeder ID, the component type, and the remaining number of components contained in the feeder control device 39 of the tape feeder 30 from the feeder control device 39 . The mounting control device 29 also transmits the received feeder information and the mounting position (slot number) where the tape feeder 30 is mounted to the management device 90 .

The CPU 29a of the mounting control device 29 executes mounting processing for mounting the component on the board S. In the mounting process, the CPU 29 a causes the head moving device 24 to move the head 25 above the component supply position of the tape feeder 30 . Subsequently, the CPU 29a lowers the suction nozzle by using the lifting device and causes the suction nozzle to suck the component. The CPU 29a causes the head moving device 24 to move the part sucked by the suction nozzle above the parts camera 27, and causes the parts camera 27 to image the part. The CPU 29a processes the picked-up image of the component, measures the suction deviation amount of the component, and corrects the mounting position of the component on the substrate S. FIG. Then, the CPU 29a causes the head moving device 24 to move the component sucked by the nozzle above the corrected mounting position, and lowers the suction nozzle by the lifting device to mount the component on the board S.

Each of the plurality of feeder storages 70 is incorporated in a mounting line (between the component mounting apparatus 20 positioned most upstream in the substrate conveying direction among the plurality of component mounting apparatuses 20 and the print inspection apparatus 14), and a plurality of This is a storage place for temporarily storing the tape feeder 30 . For example, one feeder storage 70 stores tape feeders 30 to be used mainly in each component mounting apparatus 20, and the other feeder storage 70 is mainly used in each component mounting apparatus 20. Used tape feeders 30 are stored. Replenishment of the tape feeders 30 to be used to the feeder storage 70 and collection of the used tape feeders 30 are performed by an operator or an automatic guided vehicle (AGV).

Each feeder storage 70 is provided with a feeder base having a plurality of slots 42 and connectors 45 similar to the feeder base 40 provided in the component mounting apparatus 20 . When the tape feeder 30 is attached to the connector 45 of the feeder storage 70, feeder information such as the feeder ID of the tape feeder 30, the type of parts, and the remaining number of parts, and the attachment position (slot number) where the tape feeder 30 is attached are stored. is sent to the management device 90 .

As shown in FIG. 1 , the loader 50 moves in front of the component mounting system 10 (mounting line) along the line, takes out the tape feeder 30 to be used from the feeder storage 70 , and transports it to each component mounting apparatus 20 . Also, the used tape feeder 30 is removed from each component mounting apparatus 20 and collected in the feeder storage 70. - 特許庁The loader 50 includes a loader body 50a, a loader moving device 51, a feeder transfer device 53, and a loader control device 59, as shown in FIGS.

The loader moving device 51 moves the loader body 50a along the guide rails 18 arranged in front of the mounting line. The loader moving device 51 has an X-axis motor 52a that drives a drive belt for moving the loader body 50a, and guide rollers 52b that roll on the guide rails 18 to guide the movement of the loader 50. .

The feeder transfer device 53 transfers the tape feeder 30 between the component mounting device 20 and the loader 50 at a position where the loader 50 faces one of the component mounting devices 20 , or transfers the tape feeder 30 between the loader 50 and the feeder storage 70 . The tape feeder 30 is transferred between the feeder storage 70 and the loader 50 at positions facing each other. The feeder transfer device 53 includes a clamp section 54 that clamps the tape feeder 30, and a Y-axis slider 55 that moves the clamp section 54 along a Y-axis guide rail 55b. The Y-axis slider 55 includes a Y-axis motor 55a, and drives the Y-axis motor 55a to move the clamp portion 54 in the front-rear direction (Y-axis direction).

The loader control device 59 is composed of a well-known CPU 59a, ROM 59b, RAM 59c, storage device 59d such as a hard disk or SSD, and the like. The loader control device 59 receives detection signals from a position sensor 61, two left and right monitoring sensors 62, and the like. The position sensor 61 is an encoder and detects the position P on the moving path of the loader main body 50a. The loader control device 59 calculates the moving speed of the loader main body 50a based on the moving position detected by the position sensor 61. FIG. Also, the loader control device 59 outputs drive signals to the loader moving device 51 and the feeder transfer device 53 .

The two left and right monitoring sensors 62 monitor the presence or absence of an interfering object within the monitoring area A, which is a semicircular area around the loader main body 50a. FIG. 7 is an explanatory diagram for explaining the monitoring area of the monitoring sensor. As shown, the left monitoring sensor 62 is attached to the left side of the loader main body 50a (opposite side to the board transfer direction), and can mainly detect interfering objects on the left side of the loader main body 50a. The right monitoring sensor 62 is attached to the right side of the loader main body 50 a (same side as the board transfer direction), and can mainly detect interfering objects on the right side of the loader 50 .

Each monitoring sensor 62 detects the distance and angle to an interfering object within the monitoring area A, and the relative speed with respect to the interfering object. Input Multi-Output) is configured as a radar sensor. The monitoring sensor 62 includes a transmitting antenna section 62a including a plurality of (M) transmitting antennas arranged in an array at predetermined intervals, and an array in the same direction as the transmitting antennas at intervals different from the intervals of the transmitting antennas. and a receiving antenna section 62b including a plurality of (N) receiving antennas arranged in a row. By transmitting signals from M transmitting antennas and receiving them simultaneously with N receiving antennas, it can be regarded as a radar apparatus receiving with M×N virtual receiving antennas for one transmitting antenna.

The monitoring sensor 62 transmits a frequency-modulated chirp signal from a transmission antenna section 62a, receives a reflected wave from an interfering object as a reception signal at a reception antenna section 62b, and generates a beat signal, which is the difference frequency between the reception signal and the transmission signal. By generating a signal, the distance to the interfering object is detected based on the beat signal. Moreover, when the interfering object is moving, the received signal contains a frequency component corresponding to the relative speed of the interfering object due to the Doppler effect, so the monitoring sensor 62 can also calculate the relative speed of the interfering object. can. Furthermore, if the distance to the interfering object is sufficiently far relative to the distance between the transmitting and receiving antennas, and the reflected wave from the interfering object can be regarded as a plane wave, the distance until the reflected wave is received by each receiving antenna is Since a difference occurs based on the angle of the interfering object, a phase difference occurs between the received signals received by the respective receiving antennas according to the distance to reception. Therefore, the monitoring sensor 62 can also calculate the angle of the interfering object (angle with respect to the predetermined axis) based on the phase difference of each received signal. In this embodiment, the monitoring sensor 62 calculates the angle with respect to the Y-axis as the angle of the interfering object.

The management device 90 is a general-purpose computer, and as shown in FIG. 6, it is composed of a CPU 91, a ROM 92, a RAM 93, a storage device 94 such as a hard disk and an SSD, and the like. An input device 95 such as a keyboard and a mouse, and a display 96 such as a liquid crystal display device are electrically connected to the management device 90 . The storage device 94 stores production plans, feeder holding information, job information, status information, and the like. These pieces of information are managed by each component mounting apparatus 20 . Here, the production plan is a plan that determines which components are to be mounted in which order in each component mounting apparatus 20, and how many substrates S (products) mounted in such a manner are to be manufactured (produced). is. The feeder holding information is information about the tape feeders 30 held by each component mounting apparatus 20 and the feeder storage 70 . The feeder holding information includes feeder information such as the feeder ID, component type, remaining number of components, and the device holding the tape feeder 30 (component) (which component mounting device 20 and which feeder storage 70 it is) and the tape feeder. location information such as 30 mounting location (slot number). The job information is information about the mounting process (job) to be executed by each component mounting apparatus 20 . This job information includes the types of boards to be produced, the types of components to be mounted, the mounting position of each component, the components to be mounted by each component mounting apparatus 20, and the like. The status information is information indicating the operating status of each component mounting apparatus 20 . This status information includes during production, during changeover, during occurrence of an abnormality, and the like.

The management device 90 is communicably connected to the mounting control device 29 by wire, and exchanges various information with each component mounting device 20 of the component mounting system 10 . The management device 90 receives the operation status from each component mounting device 20 and updates the status information to the latest information. Also, the management device 90 is communicably connected to the feeder control device 39 of the tape feeder 30 attached to the feeder table 40 of each component mounting device 20 via the mounting control device 29 . When the tape feeder 30 is removed from the component mounting apparatus 20 or the feeder storage 70 or attached to the component mounting apparatus 20 or the feeder storage 70, the management device 90 controls the corresponding component mounting apparatus 20 or feeder storage. 70 to update the feeder holding information to the latest information.

Furthermore, the management device 90 is wirelessly communicably connected to the loader control device 59 and also manages the operation of the loader 50 . That is, the CPU 91 of the management device 90 searches the feeder holding information of the feeder storage 70 for the components necessary for the production of the next product in each component mounting device 20 based on the production plan, and selects the tape feeders containing the corresponding components. A replenishment command is transmitted to the loader 50 so that the component mounting apparatus 20 of interest is replenished with the components 30 . Further, the CPU 91 transmits a collection command to the loader 50 to collect the used tape feeder 30 generated in each component mounting apparatus 20 .

FIG. 8 is a flowchart showing an example of work processing executed by the loader control device 59. FIG. This processing is executed when a work command (the replenishment command or recovery command described above) is received from the management device 90 . When the tray feeder 80 is installed in front of any one of the plurality of component mounting apparatuses 20, in order to prevent interference between the loader 50 and the tray feeder 80, the loader 50 has a feeder storage box within the travelable range. A work position is designated in a range from 60 to the front of the tray feeder 80, and a work command is transmitted.

When the work process is executed, the CPU 59a of the loader control device 59 first determines whether an interfering object has been detected by the monitoring sensor 62 (step S100). When the CPU 59a determines that no interfering object is detected, it determines whether or not the loader main body 50a is stopped (step S110). This determination can be made based on the moving speed calculated from the moving position detected by the position sensor 61 . When determining that the loader main body 50a is stopped, the CPU 59a controls the loader moving device 51 to start moving toward the work position (step S120), and proceeds to step S230. On the other hand, when the CPU 59a determines that the loader main body 50a is moving rather than stopped, the CPU 59a skips step S120 and proceeds to step S230.

Next, the CPU 59a acquires the movement position from the position sensor 61 (step S230), and determines whether or not the designated work position has been reached based on the acquired movement position (step S240). When the CPU 59a determines that the work position has not been reached, the process returns to step S100 to continue the movement. On the other hand, when the CPU 59a determines that the work position has been reached, the CPU 59a controls the loader moving device 51 to stop the movement of the loader 50 (step S250), and executes the above-described work related to the work command (step S260). , end the work process.

When determining that an interfering object has been detected in step S100, the CPU 59a determines whether or not the number of detected interfering objects is equal to or greater than a predetermined number of 2 or more (step S130). When the CPU 59a determines that the number of detection points is not equal to or greater than the predetermined number but is less than the predetermined number, the CPU 59a returns to step S100 and waits until the number of detection points becomes equal to or greater than the predetermined number. On the other hand, when the CPU 59a determines that the number of detection points is equal to or greater than the predetermined number, the CPU 59a acquires the distance and angle of each detection point of the interfering object (step S140). The outline of the interfering object is calculated (step S150). The outer shape of the interfering object can be calculated based on the coordinates of each detection point calculated from the distance and angle of each detection point. Next, the CPU 59a reads out the profile of the tray feeder 80 registered in advance in the storage device 59d (step S160), and determines whether or not the two profiles match (step S170). This determination is made by determining whether or not there is a part of the outer shape of the tray feeder 80 that matches the outer shape of the interfering object detected in the monitoring area A by pattern matching or the like.

When the CPU 59a determines that the outline of the interfering object detected by the monitoring sensor 62 matches the outline of the tray feeder 80, it determines whether the loader main body 50a is moving (step S180). When determining that the loader main body 50a is moving, the CPU 59a acquires the moving speed calculated based on the moving position detected by the position sensor 61 (step S190), and detects the interfering object detected by the monitoring sensor 62. (step S200), and it is determined whether or not the two speeds match (step S210). This determination is to determine whether or not the interfering object is a stationary object. The determination in step S170 and the determination in step S210 are for determining whether or not the interfering object detected by the monitoring sensor 62 is the tray feeder 80 installed on the travel path of the loader 50 .

When the CPU 59a determines that the outlines do not match or the speeds do not match (not a stationary object), the interfering object detected by the monitoring sensor 62 is not the tray feeder 80, but a worker or the like. It is determined that it is another obstacle, and in order to avoid collision with the obstacle, the loader moving device 51 is controlled to bring the loader main body 50a to an emergency stop (step S220), and the process returns to step S100. On the other hand, when the CPU 59a determines that the outline matches and the speed matches (the object is stationary), the CPU 59a determines that the interfering object detected by the monitoring sensor 62 is the tray feeder 80, and continues the movement. Then, proceed to step S230.

The CPU 59a determines in step S170 that the outer shapes match, but if it determines in step S180 that the loader main body 50a is not moving, that is, is stopped, the interfering object is removed from the tray feeder 80 without determining speed match. , the loader moving device 51 is controlled to start moving toward the work position (step S120), and the process proceeds to step S230.

9 to 12 are explanatory diagrams showing how the monitoring sensor detects the tray feeder. FIG. 13 is an explanatory diagram showing how a monitoring sensor detects a person (worker). As shown in the figure, the loader 50 detects an interfering object with the monitoring sensor 62 while moving to a designated work position, and when the number of interfering object detection points P reaches a predetermined number or more, each detection point P Recognition processing is performed to recognize whether or not the interfering object is the tray feeder 80 based on the information (distance and angle). As illustrated, the tray feeder 80 is a plane whose detection surface detected by the monitoring sensor 62 extends in a direction orthogonal to the moving direction of the loader 50 . On the other hand, since the detection surface detected by the monitoring sensor 62 is an uneven surface, the operator who is the monitoring target can register the outer shape of the tray feeder 80 in advance, so that the information for each detection point P can be detected. The tray feeder 80 and the operator can be easily identified.

As described above, in this embodiment, the CPU 59a uses the monitor sensor 62 configured as a MIMO radar sensor to detect the outer shape of the interfering object, and compares it with the pre-registered outer shape of the tray feeder 80 to detect the interfering object. , and select whether to continue movement or make an emergency stop. As a result, even if the work position is specified near the tray feeder 80, the loader 50 does not make an emergency stop before the work position even if the monitoring sensor 62 detects the tray feeder 80, and the work is performed. It is possible to move to a position and perform necessary work. If the monitoring sensor 62 includes more than a predetermined number of detection points P of the interfering object, the CPU 59a detects the outer shape of the interfering object within the range of the detection points, and detects the outer shape of the tray feeder 80 registered in advance. Since it is determined whether or not there is a portion that matches the outer shape of the interfering object, it is possible to quickly recognize the interfering object while ensuring detection accuracy to some extent. Further, the CPU 59a controls the movement speed of the loader body 50a calculated from the movement position detected by the position sensor 61 and the interference detected by the monitoring sensor 62, in addition to the fact that the outer shapes match during the movement of the loader body 50a. Whether or not the interfering object is a stationary object is determined based on whether or not the relative speed with the object matches, and the tray feeder 80 is recognized. be able to. Further, when the loader body 50a is stopped, the CPU 59a determines whether or not the interfering object is the tray feeder 80 based only on whether the outer shapes match. Interfering objects can be properly recognized even before

Here, the correspondence relationship between the main elements of this embodiment and the main elements described in the scope of claims will be described. That is, the loader main body 50a of this embodiment corresponds to the working device main body, the monitoring sensor 62 corresponds to the detection sensor, the storage device 59d corresponds to the storage section, the tray feeder 80 corresponds to the line constituting member, and the CPU 59a It corresponds to the judgment part. Also, the position sensor 61 and the CPU 59a that calculates the movement speed based on the movement position from the position sensor 61 correspond to a speed detection unit.

It goes without saying that the present disclosure is by no means limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, the loader 50 identifies an interfering object detected by the monitoring sensor 62, but the management device 90 may identify the interfering object. That is, the outer shape of the tray feeder 80 as a line component is registered in advance in the storage device 94 of the management device 90 . Then, when the monitoring sensor 62 detects an interfering object in the monitoring area A, the CPU 91 of the management device 90 acquires the detection information from the loader 50 by communication, and obtains the outline of the interfering object from the acquired detection information. and the pre-registered outer shape of the tray feeder 80 to identify an interfering object.

As described above, the working device of the present disclosure includes a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within the detection range around the working device main body, Information on the external shape of the line constituting members to be installed is stored in advance in the storage unit. When an interfering object is detected by a detection sensor, the work device includes outline information of the interfering object obtained based on the distance and angle of each detection point of the interfering object and outline information of the line constituting member stored in the storage unit. is compared to determine whether the interfering object is a system component or other interfering object. When the work device determines that the interfering object is a system component, the work device permits movement of the work device main body. prohibit the movement of As a result, it is possible to identify the line component installed on the movement path of the working device and other interfering objects with a simple configuration, and to deal with them appropriately.

In the work apparatus according to the present disclosure, the determining unit detects that the interfering object is detected as the above based on matching between the outer shape information of the interfering object and the outer shape information of the line component at a predetermined number of detection points. You may determine with it being a system component. In this way, the interfering object can be identified when part of the interfering object enters the detection range.

In addition, the work device according to the present disclosure includes a speed detection unit that detects a moving speed of the work device main body, the detection sensor is capable of detecting a relative speed with respect to an interfering object, and the determination unit detects the interference. By comparing the outer shape information of the object with the outer shape information of the line component and comparing the relative speed with respect to the interfering object and the moving speed of the working device main body, it is possible to determine whether the interfering object is the system component or other components. It may be determined whether there is an interfering object. In this way, in addition to comparing the outline information, it is possible to further improve the accuracy of recognition of whether or not the interfering object is a system component by determining whether or not the interfering object is a stationary object. In this case, when the work device main body is moving, the determination unit compares the outer shape information of the interfering object with the outer shape information of the line constituent member, and compares the relative speed of the interfering object and the working device main body. By comparing the moving speed with the moving speed, it is determined whether the interfering object is the system component or other interfering object, and when the working device main body is stopped, the outer shape information of the interfering object and the outer shape of the line configuring member Information may be compared to determine whether the interfering object is the system component or some other interfering object. In this way, it is possible to determine whether or not the interfering object detected by the detection sensor is a system component even when the working device main body is stopped.

In the present disclosure, it is in the form of a working device, but it may be in the form of a mounting system.

The present disclosure can be used in manufacturing industries such as work equipment and mounting systems.

10 component mounting system, 12 printing device, 14 printing inspection device, 16 reflow oven, 18 guide rail, 20 component mounting device, 21 component supply section, 22 board transfer device, 24 head moving device, 24a slider, 25 head, 26 mark camera, 27 parts camera, 28 nozzle stocker, 29 mounting control device, 29a CPU, 29b ROM, 29c RAM, 29d storage device, 30 tape feeder, 32 reel, 33 tape feeding mechanism, 35 connector, 39 feeder control device, 40 feeder Base, 42 slot, 45 connector, 50 loader, 50a loader main body, 51 loader movement device, 52a X-axis motor, 52b guide roller, 53 feeder transfer device, 54 clamp section, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 59 loader control device, 59a CPU, 59b ROM, 59c RAM, 59d storage device, 60 feeder storage, 61 position sensor, 62 monitoring sensor, 62a transmission antenna section, 62b reception antenna section, 70 feeder storage , 80 tray feeder, 90 management device, 91 CPU, 92 ROM, 93 RAM, 94 storage device, 95 input device, 96 display.

Claims

A working device for supplying necessary components to a plurality of component mounters constituting a mounting line,
a working device main body movable along the mounting line;
a detection sensor installed in the working device main body and capable of detecting the distance and angle of each detection point of an interfering object within a detection range around the working device main body;
a storage unit for pre-storing external shape information of a line constituting member that constitutes a part of the mounting line and is installed on a movement path of the working device main body;
When an interfering object is detected by the detection sensor, outer shape information of the interfering object obtained based on the distance and angle of each detection point of the interfering object and outer shape information of the line constituting member stored in the storage unit is compared to determine whether the interfering object is the system component or other interfering object, and if it is determined that the interfering object is the system component, the movement of the working device main body is permitted, and the interference a determining unit that, when determining that an object is an interfering object other than the above, prohibits movement of the working device main body until the interfering object is no longer detected;
working device.
The working device according to claim 1,
The determination unit determines that the interfering object is the system component based on matching between the outline information of the interfering object and the outline information of the line component at a predetermined number of detection points. ,
working device.
The working device according to claim 1 or 2,
a speed detection unit that detects a moving speed of the working device main body;
The detection sensor is further capable of detecting a relative speed with an interfering object,
The determination unit compares the outer shape information of the interfering object with the outer shape information of the line component, and compares the relative speed with respect to the interfering object and the moving speed of the working device main body to determine whether the interfering object is the above-mentioned determine system components or other obstructions;
working device.
The working device according to claim 3,
When the working device main body is moving, the determination unit compares the outer shape information of the interfering object with the outer shape information of the line component, and compares the relative speed with the interfering object and the moving speed of the working device main body. is compared to determine whether the interfering object is the system constituent member or other interfering matter, and when the working device main body is stopped, the external shape information of the interfering object and the external shape information of the line constituting member are combined. determining whether the interfering object is the system component or other interfering object by comparing;
working device.
A plurality of component mounters constituting a mounting line, and a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within a surrounding detection range, moving along the mounting line to mount the plurality of components. A mounting system comprising: a work device for supplying necessary parts to a mounting machine; and a line component member that constitutes a part of the mounting line and is installed on a movement path of the work device,
a storage unit for pre-storing outline information of the line-constituting member;
When an interfering object is detected by the detection sensor while the working device is moving, the external shape information of the interfering object obtained based on the distance and angle of each detection point of the interfering object is stored in the storage unit. It is determined whether the interfering object is the system-constituting member or other interfering object by comparing the outer shape information of the line-constituting member obtained from the line-constituting member. a determining unit that permits the movement of the work device until the interfering object is no longer detected when it is determined that the interfering object is an interfering object other than the above;
implementation system with