WO2023166622A1

WO2023166622A1 - Component exchange system and component mounting system

Info

Publication number: WO2023166622A1
Application number: PCT/JP2022/008928
Authority: WO
Inventors: 祐介小林; 尚也藤井; 真天内; 義徳岡本; 勉柳田
Original assignee: ヤマハ発動機株式会社
Priority date: 2022-03-02
Filing date: 2022-03-02
Publication date: 2023-09-07

Abstract

This component exchange system comprises: a storage unit in which are arranged a plurality of storage supports for supporting component supply tools for replenishing supply supports of a component supply unit; an operation unit including a movable carriage in which are arranged a plurality of exchange supports for supporting component supply tools to be exchanged between the supply supports and the storage supports; and a control unit for controlling the operation unit. When the operation unit is located so as to face the storage unit, the control unit performs an arrangement process for moving the movable carriage, such that component supply tools supported by the storage supports are moved to the exchange supports and arranged on the movable carriage. When the operation unit is located so as to face the component supply unit, the control unit performs an exchange process for moving the movable carriage, such that component supply tools are moved and exchanged between the supply supports and the exchange supports. In the arrangement process, the control unit moves the movable carriage such that the arrangement of the component supply tools on the movable carriage becomes as indicated in arrangement data that is set in advance.

Description

Parts exchange system and parts mounting system

The present invention relates to a parts replacement system that collects and replenishes parts supply tools in a parts supply unit, and a parts mounting system equipped with the same.

The component mounting system is equipped with a component mounter that mounts components on a board such as a printed circuit board. A component mounter includes a component supply unit in which a plurality of component supply tools such as feeders for supplying components are arranged, and a head unit for mounting the components supplied by the component supply tools on a board. In the component mounter, a component supply tool that has run out of components or the like is recovered from the component supply unit, and a new component supply tool is supplied to the component supply unit according to the recovery.

Patent Literature 1 discloses a replenishing device that replenishes a component supply tool to a component mounter in response to collection of the component supply tool from the component mounter. The replenishing device includes a traveling body that travels between the component storage and the component mounting machine, a moving base that is movably provided on the traveling body, and a replenishment unit that is mounted on the moving base. When the supply device is arranged so as to face the parts storage by running of the traveling body, the operator transfers the parts supply tool from the parts storage to the supply unit. As a result, a plurality of component supply tools with different component types are arranged in the replenishment unit. In this state, when the replenishing device is arranged so as to face the component supply unit of the component mounter by running of the traveling body, the component supply tool is moved between the component supply unit and the replenishment unit while the carriage moves. be exchanged.

The supply device disclosed in Patent Document 1 does not consider the arrangement of a plurality of component supply tools in the supply unit when the component supply tools are transferred from the parts storage to the supply unit. Therefore, in a state in which a plurality of component supply tools are arranged in the supply unit, when the component supply tools are exchanged between the supply units, the amount of movement of the carriage increases. Sometimes. In this case, there is a possibility that the replacement efficiency of the replacement of the component supply tool in the component supply unit is lowered.

Japanese Patent No. 6074425

An object of the present invention is to provide a parts replacement system capable of enhancing the efficiency of replacement of parts supply tools in a parts supply unit, and a parts mounting system equipped with the system.

A component replacement system according to one aspect of the present invention collects a component supply tool from a component supply unit in which a plurality of supply support units supporting the component supply tool for supplying components to be mounted on a board are arranged in a predetermined direction. The system replenishes the component supply tool to the component supply unit according to the operation. This parts exchange system includes a storage unit in which a plurality of storage support parts for supporting and storing a plurality of parts supply tools of different types are arranged in a predetermined direction, a supply support part, and a storage support. a plurality of exchange supporting parts for supporting the component supply tool exchanged between the parts and the parts are arranged in a predetermined direction; and a gripper for moving the component supply tool by moving with respect to the moving table; and a control unit for controlling the operation unit. The control unit moves and replaces the component supply tool between the plurality of supply support portions and the plurality of replacement support portions in a state in which the operation unit is arranged to face the component supply unit. Exchange processing is performed to move the moving table and the gripper as shown in FIG. In addition, in a state in which the operation unit is arranged to face the storage unit, the control unit performs preprocessing for the replacement processing, such that the plurality of types of the component supply tools supported by the plurality of storage support portions are displaced. Arrangement data set in advance for arranging the plurality of types of component supply tools on the moving table so that the amount of movement of the moving table in the replacing process is within a target range. An arrangement process is performed to move the moving table and the gripper so that the arrangement shown by .

A component mounting system according to another aspect of the present invention includes a component supply unit in which a plurality of supply support parts that support component supply tools that supply components are arranged in a predetermined direction; a head unit that mounts a component supplied by a supply tool onto a substrate; and the component replacement described above, wherein the component supply tool is supplied to the component supply unit in response to recovering the component supply tool from the component supply unit. a system;

The objects, features and advantages of the present invention will become more apparent with the following detailed description and accompanying drawings.

1 is a block diagram showing the configuration of a component mounting system to which a component replacement system according to an embodiment of the invention is applied; FIG. FIG. 3 is a cross-sectional view showing the configuration of a component mounter provided in a production system in the component mounting system; 1 is a diagram schematically showing a storage device and a storage management device provided in a parts exchange system; FIG. 1 is a diagram schematically showing a parts exchange device and a replacement management device provided in a parts exchange system; FIG. It is a figure explaining the specific feeder movement process included in the arrangement|sequence process which a control unit performs. FIG. 10 is a diagram for explaining first array movement processing and second array movement processing included in the array processing performed by the control unit; FIG. 10 is a diagram for explaining first array movement processing and second array movement processing included in the array processing performed by the control unit; FIG. 10 is a diagram for explaining first array movement processing and second array movement processing included in the array processing performed by the control unit; It is a figure explaining the scene where a control unit outputs an error command signal. It is a figure explaining the collection|recovery process included in the exchange process which a control unit performs. FIG. 5 is a diagram for explaining replenishment processing included in replacement processing performed by the control unit;

A component replacement system and a component mounting system according to embodiments of the present invention will be described below with reference to the drawings.

[Overall Configuration of Component Mounting System]
A component mounting system 1 shown in FIG. 1 is a system for producing component-mounted boards in which components such as electronic components are mounted on boards such as printed boards. A component mounting system 1 includes a production system 2 and a component replacement system 3 . The production system 2 includes a production management device 2A and at least one mounter 2B. In the production system 2, a production management device 2A and a component mounting machine 2B are connected so as to be able to communicate with each other. The parts exchange system 3 includes a storage management device 4A, at least one storage device 4, a replacement management device 5A, and at least one parts exchange device 5. In the parts exchange system 3, the storage management device 4A and the storage device 4 are connected for data communication, and the exchange management device 5A and the parts exchange device 5 are connected for data communication. The component mounting system 1 also includes an integrated management device 1A that is connected to each of the production management device 2A, the storage management device 4A, and the replacement management device 5A so as to be able to communicate with each other. The integrated management device 1A, the production management device 2A, the storage management device 4A, and the exchange management device 5A are composed of, for example, microcomputers.

In the component mounting system 1, the production plan data D1 is transmitted from the integrated control device 1A to the production control device 2A. When the production control device 2A receives the production planning data D1, the component mounter 2B produces component-mounted boards according to the production planning data D1. The production management device 2A manages production of component-mounted boards by the component mounter 2B. The production management device 2A transmits production status data D2 indicating the production status of component-mounted boards in the component mounter 2B to the integrated management device 1A.

Based on the production status data D2 transmitted from the production management device 2A, the integrated management device 1A recognizes the estimated time of component shortage associated with the production of component-mounted boards in the component mounter 2B, the type of component for which the component is out of stock, and the like. . Then, based on the recognition result, the integrated management device 1A generates replenishment plan data D3 indicating a component replenishment plan for the component mounter 2B. The integrated management device 1A transmits the generated replenishment plan data D3 to each of the storage management device 4A and the exchange management device 5A.

When the storage management device 4A receives the replenishment plan data D3, the worker prepares the component supply tool for component supply used in the component mounter 2B based on the replenishment plan data D3. The operator replenishes the storage device 4 with the prepared component supply tools. The storage device 4 stores a plurality of component supply tools of different component types arranged in a predetermined direction. The storage management device 4</b>A manages the storage status of the component supply tool in the storage device 4 .

When the replacement management device 5A receives the replenishment plan data D3, the component replacement device 5 retrieves the component supply tool from the storage device 4 and exchanges the component supply tool with the component mounter 2B. The replacement management device 5A manages the operation of the parts replacement device 5. FIG.

[Detailed configuration of production system]
As described above, in the production system 2, when the production management device 2A receives the production planning data D1 transmitted from the integrated management device 1A, the component mounters 2B produce component-mounted boards according to the production planning data D1. This component mounter 2B will be described with reference to FIG. It should be noted that the directional relationship will be described below using the XYZ orthogonal coordinate axes. The X-axis direction and the Y-axis direction are orthogonal to each other on the horizontal plane, and the Z-axis direction is a direction extending in a vertical direction orthogonal to both the X-axis direction and the Y-axis direction.

The component mounter 2B is a device that mounts components on boards to produce component-mounted boards. A solder paste pattern is printed on the board before the components are mounted by the component mounter 2B. The component mounter 2B includes a mounter body 21, a transport conveyor 22, a component supply unit 23, and a head unit .

The mounting machine main body 21 is a housing having an internal space in which each part constituting the component mounting machine 2B is arranged. The transport conveyor 22 extends in the Y-axis direction and is arranged in a substantially central area inside the mounter main body 21 . The transport conveyor 22 transports the substrate in the Y-axis direction. The head unit 26 mounts components on the board conveyed by the conveyer 22 . The head unit 26 takes out components from the feeder 25 arranged in the component supply unit 23 and mounts the taken components on the substrate. A plurality of suction nozzles 261 are attached to the head unit 26 . The suction nozzle 261 is a holder that can hold a component by suction. The suction nozzle 261 can communicate with any one of a negative pressure generator, a positive pressure generator, and the atmosphere via an electric switching valve. In other words, when negative pressure is supplied to the suction nozzle 261, the component can be sucked and held by the suction nozzle 261, and then, when the positive pressure is supplied, the component is released from being sucked and held.

The component supply unit 23 is arranged in the end region of the mounter main body 21 in the X-axis direction. The component supply unit 23 has an upper frame 231, a lower frame 232, and a back frame 233 for forming a plurality of supply support portions 24 that removably support the feeder 25 that supplies components. The upper frame 231 is a plate-shaped frame extending in the X-axis direction and the Y-axis direction. The upper frame 231 is arranged so that the area portion on one end side in the X-axis direction is exposed to the outside from the mounter main body 21 and the area portion on the other end side in the X-axis direction is accommodated inside the mounter main body 21 . In addition, it is arranged at one end of the mounter main body 21 in the X-axis direction. The lower frame 232 is a plate-shaped frame that extends in the X-axis direction and the Y-axis direction, and is arranged below the upper frame 231 in the Z-axis direction so as to face the upper frame 231 . The lower frame 232 has a protruding portion 2321 protruding upward in the Z-axis direction in a region portion on the other end side in the X-axis direction that is accommodated inside the mounter main body 21 . The far side frame 233 is a plate-like frame that extends in the Y-axis direction and the Z-axis direction, and is located inside the mounter body 21 at the center of the mounter body 21 relative to the other ends of the upper frame 231 and the lower frame 232 in the X-axis direction. placed in a closer position.

Each of the plurality of supply support parts 24 removably supports the feeder 25 in the component supply unit 23 . In the component supply unit 23, a plurality of supply supports 24 are arranged in the Y-axis direction. A plurality of feeders 25 are arranged side by side in the Y-axis direction by inserting the feeders 25 into the respective supply support portions 24 .

The feeder 25 is a component supply tool that supplies components. As long as the feeder 25 is configured to be able to supply components, its component supply method is not particularly limited. Examples of the feeder 25 include a tape feeder that supplies components using a tape as a carrier, a tray feeder that supplies components by moving a tray on which components are placed, and components stored in a cylindrical stick. It is possible to adopt a stick feeder or the like that feeds while pushing out from the stick. Also, a bulk feeder in which a bulk cassette containing a plurality of parts in a bulk state is detachably attached may be employed as the feeder 25 .

A case where a tape feeder is adopted as the feeder 25 will be described below. The feeder 25 supplies components by feeding a component storage tape PT that can store a plurality of components. The component storage tape PT includes a carrier tape PT1 provided with a plurality of storage portions for storing components, and a cover tape PT2 joined to the carrier tape PT1 so as to cover the storage portions. The feeder 25 includes a feeder body 251 , a reel support section 252 , a tape delivery section 254 and a collection section 255 .

A tape delivery path 253 is formed in the feeder body 251 . The tape delivery path 253 is a path through which the component storage tape PT is delivered, and has a component pick-up portion 2531 between the upstream end and the downstream end in the delivery direction of the component storage tape PT. The reel support portion 252 is arranged on the upstream end side of the tape delivery path 253 in the feeder body 251 . The reel support portion 252 supports a reel around which the component storage tape PT is wound.

The tape delivery section 254 is composed of, for example, a sprocket, and is arranged near the component extraction section 2531 of the tape delivery path 253 . The tape delivery section 254 delivers the component storage tape PT from the reel supported by the reel support section 252 and delivers the delivered component storage tape PT along the tape delivery path 253 . The operation of the tape delivery section 254 is controlled by a control circuit mounted on the control board 259 . In the component storage tape PT delivered along the tape delivery path 253, the cover tape PT2 is separated from the carrier tape PT1 on the upstream side of the component extraction portion 2531. FIG. As a result, the component is exposed on the carrier tape PT1 at the component pick-up portion 2531 . The parts exposed on the carrier tape PT1 can be taken out by the head unit 26. FIG. That is, the head unit 26 takes out the component supplied by the feeder 25 from the component take-out section 2531 .

The cover tape PT2 separated from the carrier tape PT1 on the upstream side of the component picking section 2531 is collected by the collecting section 255. The collection unit 255 is composed of, for example, a pair of rollers in contact with each other. In this case, the collecting unit 255 collects the cover tape PT2 according to the rotation of the roller pair. The cover tape PT2 recovered by the recovery section 255 is accommodated in the recovery box 2551 .

The carrier tape PT1 after the components have been taken out by the head unit 26 is delivered outward from the feeder 25 through the downstream end of the tape delivery path 253 by the delivery operation of the tape delivery section 254 . The carrier tape PT1 fed outward from the feeder 25 is cut to a predetermined length by a tape cutter 23A arranged near the projecting portion 2321 of the lower frame 232 in the component supply unit 23. FIG.

Further, as shown in FIG. 2, the feeder 25 has an upper positioning pin 256, a lower positioning pin 257, and a feeder-side connector 258. The upper positioning pin 256 and the lower positioning pin 257 are pins that protrude from one end of the feeder body 251 in the X-axis direction. The upper positioning pin 256 and the lower positioning pin 257 are arranged at one end of the feeder main body 251 in the X-axis direction with a space therebetween in the Z-axis direction. ing. One end of the feeder body 251 in the X-axis direction has a stepped portion recessed on the other side in the X-axis direction with respect to the portion where the upper positioning pin 256 and the lower positioning pin 257 are provided. A feeder-side connector 258 is provided at a stepped portion at one end of the feeder main body 251 in the X-axis direction. The feeder-side connector 258 is a connector electrically connected to the control board 259 .

A plurality of supply support portions 24 for detachably supporting the feeder 25 are formed in the upper frame 231 , lower frame 232 and inner frame 233 of the component supply unit 23 . Each supply support portion 24 includes an upper holding rail 241 , a lower holding rail 242 , an upper pin insertion hole 243 , a lower pin insertion hole 244 and a unit side connector 245 .

A plurality of upper holding rails 241 are arranged in the Y-axis direction so as to extend in the X-axis direction on the lower surface of the upper frame 231 . The upper holding rail 241 is a rail member that guides the upper end of the feeder 25 when the feeder 25 is moved to and from the supply support portion 24 . A plurality of lower holding rails 242 are formed on the upper surface of the lower frame 232 so as to extend in the X-axis direction and are aligned in the Y-axis direction. The lower holding rail 242 is a rail member that guides the lower end of the feeder 25 when the feeder 25 is moved to and from the supply support portion 24 .

The upper pin insertion hole 243 is a plurality of holes formed side by side in the Y-axis direction at the upper end of the inner frame 233 . The upper pin insertion hole 243 allows the insertion of the upper positioning pin 256 of the feeder 25 when the feeder 25 is inserted into the supply support portion 24 . On the other hand, when the feeder 25 is extracted from the supply support portion 24, the insertion of the upper positioning pin 256 into the upper pin insertion hole 243 is released. A plurality of lower pin insertion holes 244 are formed in the lower end portion of the inner frame 233 so as to be aligned in the Y-axis direction. The lower pin insertion hole 244 allows insertion of the lower positioning pin 257 of the feeder 25 when the feeder 25 is inserted into the supply support portion 24 . On the other hand, when the feeder 25 is extracted from the supply support portion 24, the insertion of the lower positioning pin 257 into the lower pin insertion hole 244 is released. The feeder 25 is positioned with respect to the supply support portion 24 by inserting the upper positioning pin 256 through the upper pin insertion hole 243 and inserting the lower positioning pin 257 through the lower pin insertion hole 244 .

A plurality of unit-side connectors 245 are arranged side by side in the Y-axis direction on the projecting portion 2321 of the lower frame 232, and are connectors electrically connected to the control unit of the component mounter 2B. The unit-side connector 245 is connected to the feeder-side connector 258 of the feeder 25 when the feeder 25 is inserted into the supply support portion 24 .

When producing component-mounted boards in the component mounter 2B, multiple types of components are mounted on each board. Furthermore, the types of components to be mounted are different for each type of board. Therefore, in the component supply unit 23 , a plurality of feeders 25 of different component types are arranged in the Y-axis direction while being supported by the supply support section 24 . In this case, the plurality of feeders 25 are supported by the supply support portions 24 in the component supply unit 23 so as to have an optimized arrangement based on the mounting efficiency of the components on the substrate by the head unit 26 . Specifically, the arrangement of the plurality of feeders 25 in the component supply unit 23 is set so that the amount of movement of the head unit 26 is minimized when components are mounted on the substrate.

[Detailed configuration of parts replacement system]
As described above, in the parts replacement system 3, the storage management device 4A and the replacement management device 5A receive the replenishment plan data D3 transmitted from the integrated management device 1A. The replenishment plan data D3 is data indicating a replenishment plan of the feeder 25 for the component supply unit 23 of the component mounter 2B. As shown in FIG. 1, the replenishment plan data D3 is data in which part type information D31, supply support portion position information D32, and replenishment completion time information D33 are associated with each other. The part type information D31 indicates the number of parts contained in the feeder 25 to be collected that is expected to require collection due to running out of parts among the plurality of feeders 25 supported by the supply support portions 24 of the part supply unit 23. This is information indicating the type. The supply support portion position information D32 is information indicating the position of the supply support portion 24 of the collection source that supports the feeder 25 to be collected among the plurality of supply support portions 24 in the component supply unit 23 . The replenishment completion time information D33 is information indicating a target time for recovering the feeder 25 to be recovered from the supply support portion 24 of the recovery source and completing the replenishment of the feeder 25 to be replenished to the supply support portion 24 of the recovery source. be. The target time indicated by the replenishment completion time information D33 is set, for example, to the time one hour before the predicted time at which the feeder 25 to be collected will run out of parts.

As shown in FIG. 3, the storage management device 4A is connected to the storage device 4 so that data communication is possible. The storage device 4 is arranged at a position away from the component mounter 2B in the X-axis direction, and is a device that stores the feeder 25 for supplying the component mounter 2B. The storage device 4 includes a storage device body 41 and a storage unit 42 . The storage device main body 41 is a housing having an internal space in which the storage unit 42 is arranged. The storage unit 42 has a plurality of storage supports 421 arranged inside the storage device main body 41 . A plurality of storage supports 421 are configured by rails extending in the X-axis direction and arranged side by side in the Y-axis direction. A plurality of storage support portions 421 support a plurality of feeders 25 of different component types in an insertable and removable manner. In the storage unit 42 , a plurality of feeders 25 are arranged side by side in the Y-axis direction by inserting the feeders 25 into the respective storage support portions 421 .

In the example shown in FIG. 3, seven storage support parts 421a to 421g are arranged in order from one end to the other end of the storage unit 42 in the Y-axis direction. Insertion of the feeder 25 into each of the storage supports 421a to 421g in the storage unit 42 is performed by an operator. In the storage unit 42, of the seven storage support sections 421a to 421g, five storage support sections 421a to 421e support the feeders 25 of different component types, respectively, and store them in a specific area 422 on the other end side in the Y-axis direction. The support portions 421f and 421g are support portions that do not support the feeder 25 .

The storage management device 4A generates storage management data D4 shown in FIG. 3 based on the replenishment plan data D3 transmitted from the integrated management device 1A. The storage management data D4 is data for managing the storage status of the feeder 25 in the storage unit 42 of the storage device 4. FIG. The storage management data D4 is data in which work completion time information D41 and storage arrangement data D42 are associated. The work completion time information D41 is information indicating the target time for the worker to complete the work of inserting the supply feeders 25 into the storage support portions 421a to 421g of the storage unit . The target time indicated by the work completion time information D41 is set, for example, to the time one hour before the target time indicated by the replenishment completion time information D33 included in the replenishment plan data D3.

The storage arrangement data D42 is data indicating the arrangement of the supply feeders 25 that are stored in the storage unit 42 while being supported by the storage support portions 421a to 421g. The storage arrangement data D42 is data in which component type information D421, feeder identification information D422, and storage support portion position information D423 are associated with each other. The component type information D421 is information indicating the types of components stored in the feeder 25 for replenishment. The part type indicated by the part type information D421 included in the storage arrangement data D42 matches the part type indicated by the part type information D31 included in the replenishment plan data D3. The feeder identification information D422 is information for identifying the supply feeders 25 supported by the storage support portions 421a to 421g. The storage support portion position information D423 is information indicating the positions in the storage unit 42 of the storage support portions 421a to 421g that support the feeder 25 for supply.

When the storage management data D4 is generated by the storage management device 4A, the worker stores the parts of the part type indicated by the part type information D421 and prepares the feeder 25 identified by the feeder identification information D422. In order to meet the target time indicated by the work completion time information D41, the worker prepares the storage support 421 at the position indicated by the storage support position information D423 among the plurality of storage supports 421a to 421g. Then, the work of inserting the feeder 25 is performed. The operator may insert the prepared feeder 25 into the storage support portion 421 at an arbitrary position in the storage unit 42 . In this case, when the operator inserts the feeder 25 into each of the storage supports 421a to 421g, the storage support position information D423 is registered in the storage arrangement data D42.

In the example shown in FIG. 3, in the storage unit 42, the storage support 421a supports the feeder 25C, the storage support 421b supports the feeder 25A, the storage support 421c supports the feeder 25B, and the storage support 421d supports the feeder 25B. supports feeder 25D, and storage support 421e supports feeder 25E. The storage support portions 421 f and 421 g in the specific area 422 on the other end side of the storage unit 42 in the Y-axis direction do not support the feeder 25 .

Note that in the parts replacement system 3 , the storage management device 4A may be incorporated in the storage device 4 . That is, the storage device 4 may include a storage unit 42 arranged within the storage device body 41 and a storage management device 4A.

As shown in FIG. 4, the replacement management device 5A is connected to the parts replacement device 5 for data communication. The component replacement device 5 is a working robot that can travel within the area between the storage device 4 and the component mounter 2B. The component replacement device 5, which is arranged at a position facing the storage device 4, extracts the supply feeders 25 from the storage support portions 421a to 421g of the storage unit 42 and takes them inside. Further, the component replacement device 5 extracts the feeder 25 from the supply support portion 24 of the collection source that supports the feeder 25 to be collected in the component supply unit 23 in a state of being arranged at a position facing the component mounter 2B, and At the same time, the work of inserting the feeder 25 to be replenished into the supply support portion 24 of the collection source and replenishing is performed.

The parts replacement device 5 includes a replacement device main body 51 and an operation unit 52 . The exchange device main body 51 is a housing having an internal space in which the operation unit 52 is arranged. The motion unit 52 includes a mobile base 53 , an arm section 54 and a hand section 55 . The operation unit 52 includes a moving mechanism such as a ball screw mechanism for moving the moving table 53, the arm portion 54, and the hand portion 55, a driving motor serving as a driving source for the moving mechanism, and driving the driving motor. and a control board for controlling.

The moving table 53 has a plate-like shape extending in the X-axis direction and the Y-axis direction, and has a plurality of replacement support parts 531 provided on its upper surface. A plurality of exchange support portions 531 are configured by rails extending in the X-axis direction, and are arranged on the moving table 53 so as to be aligned in the Y-axis direction. The plurality of replacement support portions 531 detachably support the feeder 25 to be replaced with the supply support portion 24 of the component supply unit 23 and with the storage support portion 421 of the storage unit 42 . In the moving table 53, a plurality of feeders 25 are arranged side by side in the Y-axis direction by inserting the feeders 25 into the respective replacement support portions 531. As shown in FIG. In the example shown in FIG. 4, six replacement support parts 531a to 531f are arranged in order from one end to the other end of the moving table 53 in the Y-axis direction. The movable table 53 is movable within a predetermined allowable movement range 532 in the Y-axis direction, which is the arrangement direction of the plurality of exchange support portions 531a to 531f, within the exchange device main body 51. FIG.

The arm part 54 can move in the space above the moving table 53 in the exchange device main body 51 in the Y-axis direction, which is the arrangement direction of the plurality of exchange support parts 531a to 531f. The hand section 55 is a gripping body that is movably attached to the arm section 54 and capable of gripping the feeder 25 . The hand portion 55 is movable with respect to the arm portion 54 in the X-axis direction along which the plurality of exchange support portions 531a to 531f extend. The hand unit 55 moves in the Y-axis direction with the movement of the arm unit 54 and moves in the X-axis direction with respect to the arm unit 54 in the space above the carriage 53 in the exchange device main body 51 . The hand unit 55 moves in the X-axis direction with respect to the arm unit 54 while gripping the feeder 25 so that the feeder 25 is inserted into and removed from each of the replacement support units 531a to 531f on the moving table 53. , to move the feeder 25 .

By arranging the parts replacement device 5 at a position facing the storage device 4 , in a state in which the operation unit 52 is arranged to face the storage unit 42 , the transfer table 53 can move from the storage unit 42 to the transfer table 53 . A predetermined allowable movement range is set so that the exchange support portion 531 of the transfer destination, which is the transfer destination of the feeder 25 to be transferred, faces the storage support portion 421 of the transfer source that supports the feeder 25 to be transferred. It moves in the Y-axis direction within the range of 532. The arm portion 54 moves in the Y-axis direction so that the hand portion 55 is positioned above the exchange support portion 531 of the transfer destination. Then, the hand unit 55 moves from the storage device 4 side to the component replacement device 5 side along the X-axis direction while gripping the feeder 25 to be transferred. In this case, the feeder 25 to be transferred is extracted from the transfer source storage support portion 421 in the storage unit 42 and is moved and inserted into the transfer destination exchange support portion 531 on the moving platform 53 . . By sequentially repeating the movement of the moving table 53 , the arm portion 54 and the hand portion 55 , a plurality of types of feeders 25 to be replenished with different component types are arranged side by side on the moving table 53 in the Y-axis direction.

When the operation unit 52 is arranged to face the component supply unit 23 by arranging the component replacement device 5 at a position facing the component mounter 2B, the moving table 53 is moved from the component supplying unit 23 to the moving table. A predetermined allowable movement range 532 is set so that the replacement support portion 531 of the recovery destination, which is the recovery destination of the feeder 25 to be recovered, faces the supply support portion 24 of the recovery source that supports the feeder 25 to be recovered to 53 . Moves in the Y-axis direction within range. The arm portion 54 moves in the Y-axis direction so that the hand portion 55 is positioned above the replacement support portion 531 of the recovery destination. Then, the hand unit 55 moves from the component mounter 2B side to the component replacement device 5 side along the X-axis direction while gripping the feeder 25 to be collected. In this case, the feeder 25 to be collected is extracted from the supply support portion 24 of the collection source in the component supply unit 23 , moved to and inserted into the exchange support portion 531 of the collection destination on the moving table 53 . As a result, the feeder 25 to be collected in the component supply unit 23 is collected onto the moving table 53 .

In addition, the moving table 53 has a supply source replacement support section 531 supporting the feeder 25 to be supplied from the moving table 53 to the recovery source supply support section 24 in the component supply unit 23 . They move in the Y-axis direction within a predetermined allowable movement range 532 so as to face each other. The arm portion 54 moves in the Y-axis direction so that the hand portion 55 is positioned above the replacement support portion 531 of the supply source. Then, the hand unit 55 moves from the component replacing device 5 side to the component mounter 2B side along the X-axis direction while gripping the feeder 25 to be replenished. In this case, the feeder 25 to be replenished is pulled out from the replenishment source replacement support portion 531 on the moving table 53 , moved to and inserted into the recovery source supply support portion 24 in the component supply unit 23 . As a result, the component supply unit 23 is replenished so that the feeder 25 to be replenished on the moving table 53 is replaced with the feeder 25 to be collected.

As shown in FIG. 4, the parts replacement device 5 further includes a detection unit 56 and a notification unit 57. The detection unit 56 is a unit that detects the feeder 25 inserted into each of the replacement support portions 531a to 531f on the moving table 53 as the hand portion 55 moves. A detection unit 56 detects feeder identification information for identifying the feeder 25 . The notification unit 57 is attached to the outer surface of the exchange device main body 51 and is a unit that notifies various types of information.

The replacement management device 5A is a device that manages the operation of the parts replacement device 5. The exchange management device 5A includes a control unit 5A1 and a storage unit 5A2. The control unit 5A1 generates replacement management data D5 shown in FIG. 4 based on the replenishment plan data D3 transmitted from the integrated management device 1A. The exchange management data D5 generated by the control unit 5A1 is stored in the storage unit 5A2.

The replacement management data D5 is data for managing the operation of the operation unit 52 of the parts replacement device 5. The replacement management data D5 is data in which replacement completion time information D51, supply support portion position information D52, and moving table arrangement data D53 are associated with each other.

The replacement completion time information D51 arranges a plurality of feeders 25 to be replenished on the carriage 53, collects the feeders 25 to be collected from the parts supply unit 23 onto the carriage 53, and supplies the feeders 25 to be replenished on the carriage 53. This is information indicating the target time for completing the operation of the operation unit 52 to replenish the component supply unit 23 with the feeder 25 of . The target time indicated by the replacement completion time information D51 is set to a time within a predetermined allowable range around the target time indicated by the replenishment completion time information D33 included in the replenishment plan data D3.

The supply support portion position information D52 is information indicating the position of the supply support portion 24 of the collection source that supports the feeder 25 to be collected in the component supply unit 23 . The position indicated by the supply support portion position information D52 matches the position indicated by the supply support portion position information D32 included in the replenishment plan data D3.

The carriage arrangement data D53 is data indicating the arrangement of the feeders 25 to be replenished of multiple types on the carriage 53 . The carriage arrangement data D53 is data in which component type information D531, feeder identification information D532, and replacement support portion position information D533 are associated with each other. The component type information D531 indicates the feeder 25 to be transferred from the storage unit 42 onto the moving table 53, and the feeder to be replenished to the component supply unit 23 after being transferred onto the moving table 53. 25 is information indicating the types of parts accommodated in 25. FIG. The part type indicated by the part type information D531 included in the carriage arrangement data D53 matches the part type indicated by the part type information D31 included in the replenishment plan data D3. The feeder identification information D532 is the feeder 25 to be transferred from the storage unit 42 onto the carriage 53 and the feeder to be replenished to the component supply unit 23 after being transferred onto the carriage 53. This is information for identifying V.25. The replacement support portion position information D533 is the feeder 25 to be transferred from the storage unit 42 onto the moving table 53, and the supply target to be supplied to the component supply unit 23 after being transferred onto the moving table 53. This is information indicating the position on the moving table 53 of the replacement support portion 531 of the replenishment source that supports the feeder 25 of the replenishment source.

The control unit 5A1 arranges the feeders 25 to be replenished on the carriage 53 while considering that the target time indicated by the replacement completion time information D51 falls within the allowable range with respect to the time indicated by the replenishment completion time information D33. is optimized based on the exchange efficiency of the feeders 25 between the carriage 53 and the component supply unit 23, the carriage arrangement data D53 is generated. In this case, the arrangement of the feeders 25 to be replenished indicated by the carriage arrangement data D53 is such that the target time indicated by the replacement completion time information D51 falls within the allowable range, and the feeders 25 between the carriage 53 and the component supply unit 23 are arranged. The arrangement is such that the amount of movement of the carriage 53 when exchanging 25 falls within a predetermined target range and becomes as small as possible.

The control unit 5A1 generates moving table arrangement data D53, for example, according to the following procedure. First, the control unit 5A1 confirms the arrangement of the feeders 25 in the storage unit 42 based on the storage management data D4, and also confirms the arrangement of the feeders 25 on the carriage 53 based on the detection result of the detection unit 56. FIG. Further, the control unit 5A1 confirms the type and number of parts of the feeder 25 to be collected in the parts supply unit 23 based on the replenishment plan data D3. Thereby, the control unit 5A1 identifies the component type information D531 and the feeder identification information D532 corresponding to the feeder 25 to be replenished.

Next, based on the supply plan data D3, the control unit 5A1 confirms the position of the supply support part 24 of the collection source that supports the feeder 25 to be collected in the component supply unit 23. Then, the control unit 5A1 considers that the target time indicated by the replacement completion time information D51 is within the allowable range with respect to the time indicated by the replenishment completion time information D33, and the amount of movement of the carriage 53 is within the target range. The replenishment order is set when replenishing by exchanging a plurality of feeders 25 to be replenished with feeders 25 to be collected so as to be as small as possible. In this case, the replenishment order of the plurality of replenishment target feeders 25 does not necessarily match the earliest target time indicated by the replenishment completion time information D33. In other words, the supply order of the plurality of feeders 25 to be replenished does not necessarily coincide with the earliest predicted time at which the feeders 25 to be collected will run out of parts or the like.

For example, in the component supply unit 23, it is assumed that the third feeder 25 is arranged between the first feeder 25 and the second feeder 25 in descending order of predicted time when components will run out. . In this case, if the supply order of the feeders 25 to be replenished is set in the order of the predicted time when parts will run out, etc., when the second feeder 25 is replenished after the supply corresponding to the first feeder 25, The carriage 53 passes the position of the third feeder 25 and moves to the position of the second feeder 25 . Therefore, the amount of movement of the moving table 53 becomes large. Therefore, the control unit 5A1 sets the replenishment order of the feeders 25 to be replenished in the order of the first feeder 25, the third feeder 25, and the second feeder 25 so that the amount of movement of the carriage 53 becomes small. .

Next, the control unit 5A1 controls the plurality of exchange support portions 531a to 531f on the moving table 53 to select the exchange support portion 531 as a recovery destination for recovering the feeder 25 to be recovered without supporting the feeder 25 to be replenished. , and a supply source replacement support portion 531 that supports the feeder 25 to be supplied. At this time, the control unit 5A1 replaces the recovery destination and the supply source depending on whether or not the number of feeders 25 to be recovered is less than half the number of the replacement support portions 531a to 531f on the moving table 53. The position of the support portion 531 is set.

When the number of feeders 25 to be collected exceeds half the number of replacement support portions 531a to 531f on the moving table 53, the control unit 5A1 moves Y on the moving table 53 as shown in the first example of FIG. The exchange support portion 531a on the farthest one side in the axial direction is set as the support portion of the recovery destination, and the exchange support portions 531b to 531f arranged on the other side in the Y-axis direction with respect to the exchange support portion 531a are used as the feeder 25A to be replenished. It is set as the support part of the replenishment source that supports ∼25E. At this time, the control unit 5A1 supports replacement of the supply source corresponding to each of the feeders 25A to 25E to be supplied so that the plurality of feeders 25A to 25E to be supplied are arranged in order of supply from one side to the other in the Y-axis direction. The positions of the portions 531b to 531f are set. As a result, the control unit 5A1 obtains the exchange support portion position information D533 indicating the position of the exchange support portion 531a of the recovery destination and the positions of the exchange support portions 531b to 531f of the replenishment source that support the feeders 25A to 25E to be replenished. identify.

On the other hand, when the number of feeders 25 to be collected is half or less than the number of exchange support portions 531a to 531f on the moving table 53, the control unit 5A1 operates on the moving table 53, as shown in the second example of FIG. , the replacement support portions 531a, 531c, and 531e of the collection destinations and the replacement support portions 531b, 531d, and 531f of the replenishment sources that support the feeders 25A to 25C to be replenished are arranged alternately in the Y-axis direction. . At this time, the control unit 5A1 supports replacement of the supply source corresponding to each of the feeders 25A to 25C to be supplied so that the plurality of feeders 25A to 25C to be supplied are arranged in order of supply from one side to the other in the Y-axis direction. The positions of the portions 531b, 531d and 531f are set. As a result, the control unit 5A1 indicates the positions of the exchange support portions 531a, 531c, and 531e of the collection destinations and the positions of the exchange support portions 531b, 531d, and 531f of the supply sources that support the feeders 25A to 25C to be supplied. Identify the replacement support portion position information D533.

Based on the component type information D531, the feeder identification information D532, and the replacement support portion position information D533 specified as described above, the control unit 5A1 generates carriage arrangement data indicating the arrangement of the feeders 25 to be replenished on the carriage 53. D53 can be generated.

In the parts replacement system 3, the replacement management device 5A including the control unit 5A1 may be incorporated in the parts replacement device 5. That is, the parts replacement device 5 may include an operation unit 52, a detection unit 56, a notification unit 57, and a replacement management device 5A, which are arranged in the replacement device main body 51. FIG.

[Regarding the control of the operation unit by the control unit]
The control unit 5A1 controls the operation of the operation unit 52 of the parts exchange apparatus 5 based on the storage arrangement data D42 included in the storage management data D4 and the exchange management data D5 including the moving table arrangement data D53. The control unit 5A1 moves the carriage 53, the arm section 54 and the hand section 55 of the operation unit 52 by sending control signals based on the storage arrangement data D42 and the exchange management data D5 to the control board of the operation unit 52. FIG.

(array processing)
When the operation unit 52 is arranged to face the storage unit 42 by arranging the parts replacement device 5 at a position facing the storage device 4, the control unit 5A1 can control the object to be transferred in the storage unit 42. The feeder 25 is moved onto the moving table 53, and an arrangement process of arranging the feeders 25 to be replenished on the moving table 53 is performed. This arrangement processing will be described with reference to FIGS. 5 to 9. FIG. The arrangement processing shown in FIGS. 5 to 9 is processing based on the carriage arrangement data D53 such that the arrangement of the feeders 25 to be replenished on the carriage 53 becomes the arrangement shown in the first example of FIG. be.

Based on the storage arrangement data D42, the control unit 5A1 confirms the positions of the transfer source storage support parts 421a to 421e that support the transfer target feeders 25A to 25E in the storage unit . Further, the control unit 5A1 confirms the positions of the transfer-destination replacement support portions 531b to 531f on the transfer table 53 corresponding to the respective transfer target feeders 25A to 25E, based on the transfer table arrangement data D53. Then, the control unit 5A1 causes the transfer target feeders 25A to 25E supported by the transfer source storage support portions 421a to 421e in the storage unit 42 to be transferred to the transfer destination exchange support portions 531b to 531f on the moving table 53. The moving table 53, the arm section 54, and the hand section 55 are moved so that the arrangement of the feeders 25A to 25E on the moving table 53 becomes the arrangement indicated by the moving table arrangement data D53.

At this time, the control unit 5A1 determines whether or not there is a feeder 25 targeted for the specific feeder movement process shown in FIG. In the example of FIG. 5, the feeder 25C to be transferred supported by the storage support portion 421a in the storage unit 42 is the feeder 25 to be processed in the specific feeder movement process. When the movable table 53 is moved within the allowable movement range 532, the exchange support section of the transfer destination on the movable table 53 is attached to the storage support section 421a of the transfer source that supported the feeder 25C to be transferred in the storage unit 42. When 531d does not face, the control unit 5A1 performs specific feeder movement processing. In the specific feeder movement process, the control unit 5A1 moves the feeder 25C to be transferred from the transfer source storage support 421a to the storage support 421f in the specific area 422 via the replacement support 531a. The moving table 53, the arm portion 54 and the hand portion 55 are moved. The control unit 5A1 makes it impossible to move the transfer table 53 so that the exchange support section 531d of the transfer destination is opposed to the storage support section 421a of the transfer source due to the restriction on the movement range of the transfer table 53. If possible, the transfer target feeder 25C is moved from the transfer source storage support 421a to the storage support 421f in the specific area 422 via the replacement support 531a.

Specifically, the control unit 5A1 moves the moving table 53 within the allowable movement range 532 so that the exchange support portion 531a faces the transfer source storage support portion 421a that supports the transfer target feeder 25C. Move in the Y-axis direction. Next, the control unit 5A1 moves the arm section 54 in the Y-axis direction so that the hand section 55 is positioned above the replacement support section 531a. Then, the control unit 5A1 moves the hand portion 55 from the storage device 4 side to the component replacement device 5 side along the X-axis direction while gripping the feeder 25C to be transferred. As a result, the feeder 25C to be transferred is extracted from the transfer source storage support portion 421a in the storage unit 42, moved to the exchange support portion 531a on the moving table 53, and inserted.

Next, the control unit 5A1 moves the moving table 53 by Y within the allowable movement range 532 so that the replacement support 531a supporting the feeder 25C to be transferred faces the storage support 421f in the specific area 422. Move axially. Next, the control unit 5A1 moves the arm section 54 in the Y-axis direction so that the hand section 55 is positioned above the replacement support section 531a moved to the position facing the storage support section 421f. Then, the control unit 5A1 moves the hand portion 55 from the part replacement device 5 side to the storage device 4 side along the X-axis direction while gripping the feeder 25C to be transferred. As a result, the feeder 25C to be transferred is extracted from the replacement support portion 531a on the moving table 53, moved to the storage support portion 421f in the specific area 422 of the storage unit 42, and inserted.

When the specific feeder movement processing is completed, the control unit 5A1 moves the first array movement shown in FIGS. The process and the second array movement process are repeated.

In the first arrangement movement process, the control unit 5A1 adjusts the allowable movement range 532 so that the exchange support section 531b of the transfer destination faces the storage support section 421b of the transfer source that supported the feeder 25A to be transferred. Inside, the moving table 53 is moved in the Y-axis direction. Next, in the second arrangement movement process, the control unit 5A1 moves the arm section 54 in the Y-axis direction so that the hand section 55 is positioned above the exchange support section 531b of the transfer destination. Then, the control unit 5A1 moves the hand portion 55 from the storage device 4 side to the component replacement device 5 side along the X-axis direction while gripping the feeder 25A to be transferred. As a result, the feeder 25A to be transferred is extracted from the transfer source storage support portion 421b in the storage unit 42, and is moved and inserted into the transfer destination replacement support portion 531b on the moving table 53. .

The control unit 5A1 also performs the first arrangement movement process and the second arrangement movement process for the feeder 25B to be transferred in the same manner as the feeder 25A described above. As a result, the feeder 25B to be transferred is extracted from the transfer source storage support portion 421c in the storage unit 42, and is moved and inserted into the transfer destination exchange support portion 531c on the carriage 53. .

The control unit 5A1 performs the following first arrangement movement processing and second arrangement movement processing for the transfer target feeder 25C that has been moved to the storage support portion 421f in the specific area 422 of the storage unit 42. In the first array movement process, the control unit 5A1 adjusts the allowable movement range 532 so that the transfer destination exchange support section 531d faces the storage support section 421f in the specific area 422 supporting the transfer target feeder 25C. The moving table 53 is moved in the Y-axis direction within the range. Next, in the second arrangement movement process, the control unit 5A1 moves the arm section 54 in the Y-axis direction so that the hand section 55 is positioned above the exchange support section 531d of the transfer destination. Then, the control unit 5A1 moves the hand portion 55 from the storage device 4 side to the component replacement device 5 side along the X-axis direction while gripping the feeder 25C to be transferred. As a result, the feeder 25C to be transferred is extracted from the storage support portion 421f in the specific area 422 of the storage unit 42, and is moved and inserted into the transfer destination exchange support portion 531d on the moving table 53. .

The control unit 5A1 also performs the first array movement process and the second array movement process for the feeders 25D and 25E to be transferred in the same manner as the feeders 25A and 25B described above. As a result, the feeders 25D and 25E to be transferred are extracted from the transfer source storage support portions 421d and 421e in the storage unit 42, and transferred to the transfer destination exchange support portions 531e and 531f on the carriage 53. Moved and inserted.

The feeders 25A to 25E to be transferred are extracted from the storage support portions 421a to 421e of the transfer source of the storage unit 42 by the first arrangement movement processing and the second arrangement movement processing of the control unit 5A1, and the transfer table 53 It is moved and inserted into the replacement support portions 531b to 531f of the upper transfer destination. The first arrangement movement process and the second arrangement movement process by the control unit 5A1 are repeatedly performed corresponding to each of the plurality of feeders 25A to 25E to be transferred, thereby arranging the feeders 25A to 25E on the moving table 53. can be the arrangement indicated by the moving table arrangement data D53.

As described above, the control unit 5A1 moves the feeders 25 from the storage support portion 421 of the storage unit 42 to the replacement support portion 531 of the moving table 53 and arranges them on the moving table 53. The carriage 53, the arm section 54, and the hand section 55 are moved so that the arrangement of the feeders 25 becomes the arrangement indicated by the carriage arrangement data D53. The movement table arrangement data D53 is such that the amount of movement of the movement table 53 when exchanging the feeders 25 between the supply support section 24 of the component supply unit 23 and the exchange support section 531 of the movement table 53 is within the target range as much as possible. This data indicates the arrangement of the feeders 25 on the moving table 53, which is set to be small. Therefore, when a plurality of feeders 25 are arranged on the moving table 53 according to the moving table arrangement data D53, when the feeders 25 are exchanged between the component supply unit 23 and the moving table 53, the moving table 53 The amount of movement can be kept within the target range. This makes it possible to improve the exchange efficiency of the feeder 25 exchange between the component supply unit 23 and the moving table 53 .

Further, as shown in FIG. 9, while the control unit 5A1 is performing the second arrangement movement process, the detection unit 56 is transferred to the exchange support portion 531f of the transfer destination on the moving table 53. Detect feeder 25X. In this case, the control unit 5A1 determines whether or not the feeder 25X detected by the detection unit 56 matches the feeder 25E to be arranged on the exchange support portion 531f of the transfer destination based on the moving table arrangement data D53. If they do not match, the control unit 5A1 outputs an error command signal S1 to the notification unit 57 to command notification of the error information SS1. The notification unit 57 can notify the error information SS1 based on the error command signal S1 output from the control unit 5A1.

When the control unit 5A1 outputs the error command signal S1, the feeder 25X corresponding to the error command signal S1 moves from the replacement support portion 531f on the moving table 53 to the transfer source storage support portion 421e in the storage unit 42. The hand part 55 is moved so as to move. In this case, the feeder 25X corresponding to the error command signal S1 is returned from the moving table 53 to the storage unit . Accordingly, it is possible to prevent the arrangement of the feeders 25 on the carriage 53 from being different from the arrangement of the carriage arrangement data D53.

In addition, when the control unit 5A1 outputs the error command signal S1, the control unit 5A1 replaces the feeder 25X corresponding to the error command signal S1 with an exchange described later, in which the feeder 25 is exchanged between the component supply unit 23 and the carriage 53. Exclude from the processing target of processing. Specifically, the control unit 5A1 deletes the part type information D531 and the feeder identification information D532 regarding the feeder 25X corresponding to the error command signal S1 from the replacement management data D5. In this case, the feeder 25X corresponding to the error command signal S1 is excluded from the processing target of the exchange process in which the feeder 25 is exchanged between the component supply unit 23 and the moving table 53. FIG. As a result, it is possible to prevent the feeder 25X corresponding to the error command signal S1 from being supplied to the component supply unit 23. FIG.

Also, when the control unit 5A1 outputs the error command signal S1, it outputs a replacement preparation request signal S2 requesting preparation of the feeder 25E to replace the feeder 25X corresponding to the error command signal S1. The alternative preparation request signal S2 output from the control unit 5A1 is input to the integrated management device 1A. The integrated management device 1A updates the replenishment plan data D3 in response to the input of the alternative preparation request signal S2, and transmits the alternative preparation command signal S3 to the storage management device 4A. The alternate preparation command signal S3 is a signal that commands preparation of the alternate feeder 25E indicated by the alternate preparation request signal S2. When the storage management device 4A receives the substitute preparation command signal S3, it notifies, for example, information indicating that preparation of the substitute feeder 25E is necessary. As a result, for example, the operator can prepare the feeder 25E to replace the feeder 25X corresponding to the error command signal S1, and replenish the storage unit 42 with the prepared feeder 25E.

It should be noted that the control unit 5A1 does not have to output the alternative preparation request signal S2. In this case, for example, the operator prepares the feeder 25E to replace the feeder 25X corresponding to the error command signal S1 based on the error information SS1 notified by the notification unit 57, and stores the prepared feeder 25E in the storage unit. 42 can be supplemented.

(exchange process)
The control unit 5A1 performs the replacement process in a state in which the operation unit 52 is arranged to face the component supply unit 23 by arranging the component replacement device 5 at a position facing the component mounter 2B. In the replacement process, based on the replacement management data D5, the control unit 5A1 moves the feeder 25 between the component supply unit 23 and the transfer table 53 for replacement. The part 55 is moved. In the replacement process, the control unit 5A1 replaces the component supply unit 23 with the component supply unit 23 according to the arrangement order of the feeders 25 to be replenished on the carriage 53 indicated by the carriage arrangement data D53 included in the replacement management data D5, that is, according to the replenishment order. The moving table 53 , the arm portion 54 and the hand portion 55 are moved so that the feeder 25 is exchanged with the moving table 53 . This exchange process will be described with reference to FIGS. 10 and 11. FIG. 10 and 11, the feeder 25A to be collected from the component supply unit 23 to the moving table 53 is hatched.

The control unit 5A1 confirms the position of the recovery source supply support part 24b that supports the recovery target feeder 25A in the component supply unit 23 based on the supply support part position information D52 included in the replacement management data D5. Further, the control unit 5A1 confirms the position of the exchange support portion 531b of the replenishment source on the carriage 53 of the feeder 25A to be replenished according to the recovery of the feeder 25A to be replenished, based on the carriage arrangement data D53. do. In the replacement process, the control unit 5A1 repeatedly performs the recovery process shown in FIG. 10 and the replenishment process shown in FIG.

The control unit 5A1 performs a first recovery movement process and a second recovery movement process in the collection process. In the first recovery movement process, the control unit 5A1 moves within the allowable movement range 532 so that the replacement support portion 531a of the recovery destination faces the supply support portion 24b of the recovery source that supports the feeder 25A to be recovered. The platform 53 is moved in the Y-axis direction. Next, in the second recovery movement process, the control unit 5A1 moves the arm section 54 in the Y-axis direction so that the hand section 55 is positioned above the replacement support section 531a of the recovery destination. Then, the control unit 5A1 moves the hand portion 55 from the component mounter 2B side to the component replacement device 5 side along the X-axis direction while gripping the feeder 25A to be collected. As a result, the feeder 25A to be collected is extracted from the supply support portion 24b of the collection source in the component supply unit 23, moved to the exchange support portion 531a of the collection destination on the moving table 53, and collected.

The control unit 5A1 performs a first replenishment movement process and a second replenishment movement process in the replenishment process. In the first replenishment movement process, the control unit 5A1 adjusts the allowable movement range 532 so that the replenishment source replacement support portion 531b that supports the replenishment target feeder 25A faces the recovery source supply support portion 24b that is the replenishment destination. The moving table 53 is moved in the Y-axis direction within the range. Next, in the second replenishment movement process, the control unit 5A1 moves the arm section 54 in the Y-axis direction so that the hand section 55 is positioned above the replacement support section 531b of the replenishment source. Then, the control unit 5A1 moves the hand portion 55 from the component replacing device 5 side to the component mounter 2B side along the X-axis direction while gripping the feeder 25A to be replenished. As a result, the feeder 25A to be replenished is extracted from the replenishment source exchange support portion 531b on the moving table 53, moved to the recovery source supply support portion 24b in the component supply unit 23, and replenished.

In the component mounting system 1, the replacement efficiency of the feeder 25 exchange between the component supply unit 23 and the moving table 53 is enhanced by the component replacement system 3. In this case, the feeder 25A to be collected that has run out of components or the like is efficiently collected from the component supply unit 23, and the feeder 25A to be replenished is efficiently replenished to the component supply unit 23 according to the collection.

It should be noted that the above-described specific embodiments mainly include inventions having the following configurations.

According to the above-described parts replacement system, the control unit moves the component supply tools from the storage support section of the storage unit to the replacement support section of the transfer table and arranges them on the transfer table. The movable table and the gripper are moved so that the arrangement of the tools becomes the arrangement indicated by the arrangement data. The arrangement data is set such that the moving amount of the moving table in the replacement process for exchanging the component supply tools between the supply support section of the component supply unit and the replacement support section of the moving table falls within a target range. It is the data which shows the arrangement|sequence of the upper parts supply tool. Therefore, in a state in which a plurality of component supply tools are arranged on the carriage according to the arrangement data, when the component supply tools are exchanged between the component supply unit and the carriage, the amount of movement of the carriage is set within the target range. can fit in. As a result, it is possible to increase the efficiency of exchanging the component supply tool between the component supply unit and the moving table.

In the above parts replacement system, in the arranging process, the control unit is arranged in the transfer source support section that supports the component supply tool to be transferred from the storage unit to the moving table, among the plurality of storage support sections. a first movement process of moving the movable table so that a transfer destination support section, which is a transfer destination of the component supply tool to be transferred, of the plurality of replacement support sections faces each other; After the process, a second movement process may be performed to move the gripper so that the component supply tool to be transferred moves from the transfer source support section to the transfer destination support section.

In this aspect, by the first movement processing and the second movement processing of the control unit, the component supply tool to be transferred is extracted from the storage support portion of the transfer source of the storage unit and moved to the transfer destination on the carriage. is moved to and inserted into the replacement support part of the By repeatedly performing the first movement processing and the second movement processing by the control unit corresponding to each of the plurality of component supply tools to be transferred, the arrangement of the component supply tools on the moving table is indicated by the arrangement data. Can be an array.

In the above-described parts replacement system, in the storage unit, a support section within a specific area among the plurality of storage support sections is a support section that does not support the component supply tool, and the moving base includes the plurality of storage support sections. It is movable within a predetermined allowable range of movement in the arrangement direction of the replacement support part. If the transfer destination support section does not face the transfer source support section when the movable table is moved within the allowable movement range, the control unit moves the component supply tool to be transferred. moves from the transfer source support section to the support section in the specific area via the exchange support section.

In this aspect, when it is impossible to move the moving table so that the exchange support section of the transfer destination is opposed to the storage support section of the transfer source due to the restriction on the moving range of the moving table. , the component supply tool to be transferred is moved from the transfer source storage support section to the storage support section in the specific area via the replacement support section.

In the above-described parts replacement system, when the transfer target component supply tool is moved to the support section within the specific area, the control unit causes the transfer destination support section to move to the specific area in the first movement process. The moving table is moved so as to face the support section in the area, and in the second movement process, the component supply tool to be transferred supported by the support section in the specific area moves to the transfer destination support section. You may move the said holding body so that it may move to.

In this aspect, the component supply tool to be transferred that has been moved to the storage support section within the specific area of the storage unit is removed from the storage support section within the specific area by the first movement processing and the second movement processing of the control unit. It is pulled out, moved to and inserted into the transfer-destination exchange support section on the carriage.

The component replacement system further includes a detection unit that detects the component supply tool to be transferred that has been transferred to the transfer destination support section in the second movement process, and a notification unit that notifies various information. You may prepare. In this case, the control unit determines whether or not the component supply tool detected by the detection unit matches the component supply tool to be placed on the transfer destination support section based on the arrangement data. outputs an error command signal for commanding notification of error information to the notification unit.

In this aspect, when the component supply tool transferred to the transfer-destination replacement support section on the moving table does not match the component supply tool to be arranged on the transfer-destination support section based on the arrangement data, the control unit The reporting unit can report the error information based on the error command signal output from the .

In the above-described parts replacement system, the control unit causes the gripper to move the part supply tool to be transferred corresponding to the error command signal from the transfer destination support section to the transfer source support section. can be moved.

In this aspect, the component supply tool corresponding to the error command signal is returned from the moving table to the storage unit. Accordingly, it is possible to prevent the arrangement of the component supply tools on the moving table from being different from the arrangement data.

In the above parts replacement system, the control unit may exclude the transfer target parts supply tool corresponding to the error command signal from the replacement process.

In this aspect, the component supply tool corresponding to the error command signal is excluded from the processing target of the exchange process in which the component supply tool is exchanged between the component supply unit and the moving table. As a result, it is possible to prevent the component supply unit from being supplied with the component supply tool corresponding to the error command signal.

In the above parts replacement system, the control unit may output a replacement preparation request signal requesting preparation of a parts supply tool to replace the parts supply tool to be transferred corresponding to the error command signal.

In this aspect, the alternative preparation request signal is output from the control unit. In this case, for example, the operator can prepare a component supply tool to replace the component supply tool corresponding to the error command signal, and replenish the storage unit with the prepared component supply tool.

According to this component mounting system, the component exchange system increases the efficiency of exchanging component supply tools between the component supply unit and the moving table. In this case, the component supply tool to be collected that has run out of components or the like is efficiently collected from the component supply unit, and the component supply tool to be replenished is efficiently replenished to the component supply unit according to the collection.

INDUSTRIAL APPLICABILITY As described above, according to the present invention, it is possible to provide a component replacement system capable of enhancing the replacement efficiency of component supply tool replacement in a component supply unit, and a component mounting system including the same.

Claims

In response to collecting the component supply tool from a component supply unit in which a plurality of supply support parts for supporting the component supply tool for supplying components to be mounted on a board are arranged in a predetermined direction, the component supply unit receives the component. A parts replacement system for replenishing supply tools,
a storage unit in which a plurality of storage support parts for supporting and storing a plurality of component supply tools of different component types are arranged in a predetermined direction;
A plurality of exchange support parts that support the component supply tool to be exchanged between the supply support part and the storage support part are arranged in a predetermined direction and move in the arrangement direction of the plurality of exchange support parts. an operation unit including a movable platform, and a gripper that grips the component supplier and moves the component supplier by moving with respect to the mobile platform;
a control unit that controls the operating unit;
The control unit is
In a state in which the operation unit is arranged to face the component supply unit, the component supply tool is moved and exchanged between the plurality of supply support portions and the plurality of replacement support portions. Performing a replacement process for moving the moving table and the gripping body,
In a state in which the operation unit is arranged to face the storage unit, the plurality of types of component supply tools supported by the plurality of storage supports are transferred to the plurality of exchange supports as preprocessing for the replacement processing. so that the arrangement of the plurality of types of component supply tools on the moving table becomes the arrangement indicated by the arrangement data set in advance so as to keep the amount of movement of the moving table in the replacement process within a target range. (2) a part replacement system that performs an arrangement process for moving the moving table and the gripper;
In the arrangement process, the control unit
A transfer source support section that supports a component supply tool to be transferred from the storage unit to the moving table among the plurality of storage support sections, and a component supply tool to be transferred among the plurality of replacement support sections. a first movement process for moving the moving table so that the transfer destination support portion to be the transfer destination of the
After the first movement process, perform a second movement process of moving the gripper so that the component supply tool to be transferred moves from the transfer source support part to the transfer destination support part. , The parts exchange system according to claim 1.
In the storage unit, a support section within a specific area among the plurality of storage support sections is a support section that does not support the component supply tool,
The movable table is movable within a predetermined allowable movement range in the arrangement direction of the plurality of replacement support parts,
When the transfer destination support section does not face the transfer source support section when the movable table is moved within the allowable movement range, the control unit determines that the component supply tool to be transferred is the 3. The parts exchange system according to claim 2, wherein said moving table and said gripper are moved so as to move from said transfer source support section to said support section in said specific area via said exchange support section.
When the component supply tool to be transferred is moved to the support section in the specific area, the control unit causes the transfer destination support section to face the support section in the specific area in the first movement process. and in the second movement process, the component supply tool to be transferred, which is supported by the support section in the specific area, moves to the transfer destination support section. 4. The parts exchange system according to claim 3, wherein the body is moved.
a detection unit that detects the component supply tool to be transferred that has been transferred to the transfer destination support section in the second movement process;
and a notification unit that notifies various information,
The control unit determines whether or not the component supply tool detected by the detection unit matches the component supply tool to be placed on the transfer destination support section based on the arrangement data. 5. The parts replacement system according to any one of claims 2 to 4, wherein an error command signal for commanding notification of information is output to said notification unit.
6. The control unit moves the gripper so that the part supply tool to be transferred corresponding to the error command signal moves from the transfer destination support section to the transfer source support section. The parts replacement system described in .
7. The parts exchange system according to claim 5 or 6, wherein said control unit excludes said transfer target parts supply tool corresponding to said error command signal from said exchange process.
8. The control unit according to any one of claims 5 to 7, wherein said control unit outputs a replacement preparation request signal requesting preparation of a component supply tool to replace said component supply tool to be transferred corresponding to said error command signal. parts replacement system.
a component supply unit in which a plurality of supply support portions that support a component supply tool for supplying components are arranged in a predetermined direction;
a head unit that mounts on a board a component supplied by the component supply tool supported by the supply support;
and a parts replacement system according to any one of claims 1 to 8, wherein the parts supply tool is replenished to the parts supply unit in accordance with the collection of the parts supply tool from the parts supply unit. , component mounting system.