Methods for adjusting the position of the working device, the working object device, the working system, and the working part relative to the working object device.

Abstract

A Z-position sensor (73) (detection unit) is installed on the loader (3) (working unit) that performs loading / unloading (prescribed operation) of the feeder (F) on the component mounting machine (1) (working object device). In addition, the component mounting machine (1) has an upper detection plate (93) (reference component, reference plate). Based on the height detection of the upper detection plate (93) by the Z-position sensor (73), the loader (3) is driven in the Z direction (vertical direction), thereby adjusting the height and tilt of the loader (3) (steps S111 to S114). That is, in places other than the Z-position sensor (73), it is not necessary to make the feeder changer (2) (working device) contact the component mounting machine (1) for positioning the loader (3) in the Z direction. As a result, it is possible to position the feeder changer (2) relative to the component mounting machine (1) in the Z direction while suppressing the enlargement and weight of the feeder changer (2) and the component mounting machine (1).

Description

Technical Field

[0001] This invention relates to a technology for positioning the working part of a working device that performs operations such as disassembling and assembling a feeder onto a working object such as a component mounting machine. Background Technology

[0002] Patent documents 1 and 2 describe technologies related to the positioning of devices used in component mounting machines. In particular, patent document 1 discloses a carrier tape supply device for supplying carrier tape to a component mounting machine. According to patent document 1, the carrier tape supply device is positioned relative to the component mounting machine in the vertical direction as follows: the carrier tape supply device is supported by a spring so that it can move in the vertical direction. Furthermore, a horizontal roller is installed in the carrier tape supply device, and a tapered portion is provided in the feeder device of the component mounting machine. When the carrier tape supply device approaches the feeder device and the horizontal roller contacts the tapered portion, the carrier tape feeder mechanism is displaced in the vertical direction according to the positional relationship between the horizontal roller and the tapered portion.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-064678

[0006] Patent Document 2: Japanese Patent Application Publication No. 2019-176188 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In this way, the vertical positioning of the carrier tape supply device is achieved by bringing the conical part of the component mounting machine into contact with the horizontal roller of the carrier tape supply device. At this time, a force corresponding to the elastic force of the spring supporting the carrier tape transfer mechanism acts between the component mounting machine and the carrier tape supply device. In order to overcome such a force, the component mounting machine and the carrier tape supply device need to be robustly constructed, which makes the large size and weight of these devices a problem.

[0009] The present invention addresses the aforementioned issues and aims to enable the vertical positioning of the working device relative to the working object device while suppressing the increase in size and weight of the working device and the working object device that is the object of the work performed by the working device.

[0010] Technical solutions for solving the problem

[0011] The working apparatus of the present invention comprises: a working unit for performing a prescribed operation on a work-object device; a horizontal transport unit for transporting the working unit in a horizontal direction; a vertical drive unit for changing the height and tilt of the working unit by driving the working unit in a vertical direction; a detection unit mounted on the working unit for detecting a reference component provided by the work-object device; and a control unit for controlling the vertical drive unit based on the detection result of the detection unit. The detection unit detects the height of the reference component, and the control unit controls the vertical drive unit based on the height of the reference component detected by the detection unit, thereby adjusting the height and tilt of the working unit relative to the reference component.

[0012] The work-object apparatus of the present invention comprises: a work-object part for which a work-object device performs a prescribed work; and a horizontally mounted flat reference plate. The work-object device comprises: a work-object part for performing the prescribed work; a horizontal transport part for transporting the work-object part in a horizontal direction; a vertical drive part for changing the height and tilt of the work-object part by driving the work-object part in a vertical direction; a detection part mounted on the work-object part for detecting the reference plate; and a control part for controlling the vertical drive part based on the detection result of the detection part. The detection part detects the height of the reference plate, and the control part controls the vertical drive part based on the height of the reference plate detected by the detection part, thereby adjusting the height and tilt of the work-object part relative to the reference plate.

[0013] The operating system of the present invention includes: a work object device; and an operating device for performing a prescribed operation on the work object device. The work object device includes a reference component. The operating device includes: an operating section for performing the prescribed operation; a horizontal transport section for transporting the operating section in a horizontal direction; a vertical drive section for changing the height and tilt of the operating section by driving the operating section in a vertical direction; a detection section mounted on the operating section for detecting the reference component; and a control section for controlling the vertical drive section based on the detection result of the detection section. The detection section detects the height of the reference component, and the control section controls the vertical drive section based on the height of the reference component detected by the detection section, thereby adjusting the height and tilt of the operating section relative to the reference component.

[0014] The method for adjusting the position of the working unit relative to the work object device of the present invention includes: a step of detecting the height of a reference component of the work object device by means of a detection unit installed on the working unit that performs a specified operation on the work object device; and a step of driving the working unit in the vertical direction based on the height of the reference component detected by the detection unit, thereby adjusting the height and tilt of the working unit.

[0015] In this invention (working device, work object device, working system, and method for adjusting the position of the working part relative to the work object device), a detection unit is installed in the working part that performs a prescribed operation on the work object device. Furthermore, the work object device has a reference member (reference plate). Moreover, based on the result of the detection unit detecting the height of the reference member, the working part is driven in the vertical direction, thereby adjusting the height and tilt of the working part. That is, outside of the detection unit, it is not necessary for the working device to contact the work object device for vertical positioning of the working part. As a result, while suppressing the enlargement and weight of the working device and the work object device that becomes the object of the operation performed by the working device, vertical positioning of the working device relative to the work object device is possible.

[0016] Alternatively, the working device can be configured such that the detection unit has N height sensors that detect the height of N different detection positions (N is an integer of 3 or more) on a reference component, and the control unit controls the vertical drive unit based on the heights of at least three detection positions detected by at least three height sensors, thereby adjusting the height and tilt of the working unit relative to the reference component. In this configuration, in locations other than the N height sensors, it is not necessary for the working device to contact the work object device for vertical positioning of the working unit. As a result, while suppressing the enlargement and weight of the working device and the work object device that becomes the object of the work performed by the working device, vertical positioning of the working device relative to the work object device is possible.

[0017] Alternatively, the working device can be configured such that, after the control unit stops the working unit in the horizontal direction by controlling the horizontal transport unit so that N height sensors are respectively facing the reference component from the vertical direction, the control unit adjusts the height and tilt of the working unit based on the detection results obtained by the detection unit. This structure can adjust the height and tilt of the working unit based on the results obtained by reliably detecting the height of the reference component using at least three height sensors.

[0018] Alternatively, the working device can be configured to include a guided section mounted on the working unit, N height sensors mounted on the guided section, and a guiding section for the work object device. The guiding section guides the guided section, which enters horizontally, to a guiding position opposite to a reference component in the vertical direction. The control unit controls the horizontal transport section to cause the guided section to enter the guiding section horizontally and to position it in the guiding position, thereby causing the N height sensors to be vertically aligned with the reference component. In this configuration, by guiding the guided section, the N height sensors can be reliably aligned with the reference component in the vertical direction and detect the height of the reference component.

[0019] Alternatively, the working device can be configured such that the guided part has a flat guided plate, and the guiding part has a pair of guide blocks that clamp the guided plate from both sides relative to the entry path of the guiding part, guiding the guided plate to the guiding position by the pair of guide blocks. In this structure, by guiding the guided part by the guide blocks, N height sensors can be reliably aligned with the reference component from the vertical direction and detect the height of the reference component.

[0020] Alternatively, the working device can be configured such that the reference component has a pair of detection plates corresponding to a pair of guide blocks. One end of the guided plate, guided to the guide position, faces one of the detection plates in the pair, and the other end faces the other detection plate in the pair. A portion of the N height sensors are disposed at one end, and the other portion at the other end. In this structure, the N height sensors can be reliably positioned relative to the detection plates from the vertical direction, and the height and tilt of the working unit can be adjusted based on the reliable detection of the height of the detection plates.

[0021] Alternatively, the working device can be configured such that the vertical drive unit has: M support members (M being an integer of 3 or more) that support the working unit from below by abutting against it at different support positions; and a support member drive unit that individually drives each of the M support members in the vertical direction. The control unit adjusts the height and tilt of the working unit by controlling the height of the M support members using the support member drive unit. In this structure, the height and tilt of the working unit can be reliably adjusted.

[0022] Invention Effects

[0023] According to the present invention, while suppressing the enlargement and weight of the working device and the work object device that is the object of the work performed by the working device, it is possible to position the working device in the vertical direction relative to the work object device. Attached Figure Description

[0024] Figure 1 This is a side view schematically illustrating an example of a component mounting system of a feeder changer, which is an example of an operating device according to the present invention.

[0025] Figure 2 It is a schematic 3D view of a loader with a feeder changer.

[0026] Figure 3 It is a schematic 3D view of a transport robot that is a feeder changer.

[0027] Figure 4 It is a schematic 3D diagram representing the lifting mechanism of a transport robot.

[0028] Figure 5 It is a three-dimensional diagram that schematically shows the relationship between the guided plate and the guiding part.

[0029] Figure 6 It is a schematic three-dimensional diagram representing the guide section.

[0030] Figure 7 It is a diagram that schematically illustrates the operation of an elevator.

[0031] Figure 8 This is a diagram schematically representing the range of movement of the loader in the Y direction.

[0032] Figure 9 It is a diagram that schematically shows the range of movement of the loader in the direction of rotation.

[0033] Figure 10 It is a bottom view schematically showing the process of the guided plate entering the guide section being guided by the guide section.

[0034] Figure 11 It is a diagram that schematically illustrates the actions of the guide after it is guided to its destination.

[0035] Figure 12 This is a block diagram representing the electrical structure of a handling robot.

[0036] Figure 13 This is a flowchart illustrating the position control of the loader performed by the handling robot. Detailed Implementation

[0037] Figure 1 This is a side view schematically illustrating an example of a component mounting system for a feeder changing machine, which is an example of the operating apparatus of the present invention. Figure 2 This is a schematic 3D view of a loader with a feeder changer. Figure 3 This is a schematic 3D view of a handling robot that is used for changing feeders. Figure 4 This is a schematic perspective view of the elevator of a transport robot. In this embodiment, the X direction (horizontal), the Y direction (orthogonal to the X direction), and the Z direction (vertical) are appropriately shown. Furthermore, the arrow side of the X direction is appropriately treated as the front side, and the opposite side of the arrow is appropriately treated as the rear side.

[0038] Figure 1The component mounting system includes a component mounting machine 1 and a feeder changing machine 2. The component mounting machine 1 uses a suction nozzle at the tip of the mounting head to pick up components supplied by a feeder F and transfer them to a substrate, thereby mounting components onto the substrate. The feeder F is, for example, a belt feeder that supplies components in the grooves by delivering a component supply belt having multiple grooves for receiving components. The component mounting machine 1 can be, for example, the device disclosed in WO2021 / 186533. The feeder changing machine 2 includes: a loader 3 for loading and unloading the feeder F relative to the component mounting machine 1, and a transport robot 4 for transporting the loader 3 along the X and Y directions. Furthermore, in Figure 1 In the image, the internal structure of the loader 3 and the handling robot 4 of the feeder changer 2 is shown through a perspective view.

[0039] The loader 3 has a rectangular housing 31, inside which is a storage space 311 for storing the feeder F. An opening 312 is provided at the front end of the storage space 311 in the X direction, through which the feeder F is loaded from the storage space 311 into the component mounting machine 1 and unloaded from the component mounting machine 1 into the storage space 311. The bottom plate 313 of the housing 31 is a rectangular flat plate when viewed from the Z direction, and is located opposite the storage space 311 from below. The loader 3 has a feeder holder 32 fixed to the upper surface of the bottom plate 313 within the storage space 311, which holds the feeder F for loading and unloading. Furthermore, the loader 3 has an angle sensor 33 fixed to the upper surface of the bottom plate 313 within the bottom plate 313. The angle sensor 33 detects the tilt angle of the loader 3 relative to the horizontal plane.

[0040] Furthermore, such as Figure 1 and Figure 2 As shown, the loader 3 has a plurality (3) of spacers 34 protruding downward from the bottom surface of the base plate 313. Each of the three spacers 34 is a cuboid block with the same thickness (length in the Z direction) and is fixed to the bottom surface of the base plate 313. One of the three spacers 34 is located at the rear end of the base plate 313 in the X direction, and the other two spacers 34 are located at the ends of the base plate 313 on both sides in the Y direction.

[0041] Additionally, the loader 3 has multiple (three) bearing plates 35 protruding downwards from the bottom surface of the base plate 313. Each of the three bearing plates 35 is correspondingly disposed with one of the three spacers 34, and is arranged adjacent to the inner side of the corresponding spacer 34. Each of the three bearing plates 35 is a flat plate with the same thickness (length in the Z direction) and is fixed to the bottom surface of the base plate 313. The thickness of the bearing plate 35 is thinner than the thickness of the spacer 34, and the bottom surface of the bearing plate 35 is located above the bottom surface of the spacer 34.

[0042] Furthermore, the feeder changer 2 has a slit 51 located at the center of the base plate 313 and a pair of protrusions 52 extending downward from the base plate 313 on both sides of the slit 51 in the Y direction. The slit 51 is an elongated hole opening downward from the base plate 313, extending parallel to the width direction (Y direction) of the loader 3. The pair of protrusions 52 are flat plates extending downward from the bottom surface of the base plate 313 parallel to the Z direction, each having a side orthogonal to the Y direction. Additionally, a flat plate 53 extending in the Y direction is provided at the front end of the base plate 313. The flat plate 53 extends downward from the bottom surface of the base plate 313 parallel to the Z direction, each having a side orthogonal to the X direction. The functions of these slits 51, protrusions 52, and flat plates 53 will be described later.

[0043] The handling robot 4 has a housing 41, and the upper surface 411 of the housing 41 is a horizontal plane. For example... Figure 1 and Figure 3 As shown, the handling robot 4 has multiple (three) lifting platforms 42 corresponding to the multiple (three) bearing plates 35 of the loader 3. Corresponding to the arrangement of the bearing plates 35, one of the three lifting platforms 42 is located at the rear end of the upper surface 411 of the housing 41 in the X direction, and the other two lifting platforms 42 are located at the ends of the upper surface 411 of the housing 41 in the Y direction. Each lifting platform 42 is opposite to the corresponding bearing plate 35 from the lower side in the Z direction.

[0044] like Figure 4 As shown, the lift 42 has a spherical caster 421 disposed at the upper end of the lift 42 and a caster retainer 422 supporting the caster 421 so that it can rotate. The caster 421 is supported by the caster retainer 422 so that it can rotate in all directions in the tilt, pitch, and yaw directions. The caster retainer 422 is disposed above the upper surface 411 of the housing 41, and the caster 421 protrudes upward beyond the caster retainer 422. In addition, the lift 42 has a caster drive section 423 that drives the caster 421 and the caster retainer 422 in the Z direction. The caster drive section 423 has a rod 424 extending parallel to the Z direction and a rod drive section 425 that moves the rod 424 up and down in the Z direction. The rod drive section 425 is housed inside the housing 41, the rod 424 extends upward from the rod drive section 425, and the caster retainer 422 is fixed to the upper end of the rod drive section 425. Therefore, when the lever drive 425 raises or lowers the lever 424, the caster 421 rises or falls along with the caster retainer 422. The lever drive 425 raises or lowers the lever 424, for example, via an actuator or a motor.

[0045] Furthermore, the feeder changing machine 2 has a pin 55 disposed at the center of the upper surface 411 of the housing 41. The pin 55 protrudes upward from the upper surface 411 in the Z direction. The pin 55 has a shaft 551 extending upward from the upper surface 411 in the Z direction and a flange 552 disposed at the upper end of the shaft 551. The flange 552 is located inside (upper side) of the slit 51 and has a width in the X direction longer than the width of the slit 51. The shaft 551 has a width in the X direction shorter than the slit 51 and is inserted into the slit 51. The shaft 551 protrudes downward from the flange 552 towards the lower side of the slit 51. In this way, the pin 55 engages with the slit 51 through the flange 552 at its upper end.

[0046] Additionally, the feeder changing machine 2 has a pair of force-applying portions 56 disposed on both sides of the pin 55 in the Y direction on the upper surface 411 of the housing 41. Each force-applying portion 56 has a pressing pad 561 facing the center side in the Y direction, and a damper 562 that applies force to the pressing pad 561 towards the center side in the Y direction by the elastic force of a spring or the like. In the Y direction, one of the force-applying portions 56 is located on one side of the protrusion 52 of the pair of protrusions 52, and the pressing pad 561 of this force-applying portion 56 faces the protrusion 52 from one side, while the damper 562 of this force-applying portion 56 applies force to the pressing pad 561 on the other side (i.e., towards the protrusion 52). In the Y direction, the force-applying part 56 on the other side of the pair of force-applying parts 56 is located on the other side of the protrusion 52 on the other side of the pair of protrusions 52. The pressing pad 561 of the force-applying part 56 is opposite to the protrusion 52 from the other side. The damper 562 of the force-applying part 56 applies force to the pressing pad 561 to one side (i.e., toward the protrusion 52).

[0047] Additionally, a pair of rods 57 are provided at the front end of the upper surface 411. The rods 57 extend parallel to the Z direction and protrude upward from the upper surface 411. These rods 57 are opposite the plate 53 from the central side. The functions of these pins 55, force-applying parts 56, and rods 57 will be described later.

[0048] like Figure 1 and Figure 2 As shown, the feeder changer 2 has a guide plate 61 fixed to the housing 31 of the loader 3. The guide plate 61 is a rectangular flat plate with two chamfered front corners when viewed from the Z direction, protruding forward from the base plate 313. The upper surface of the guide plate 61 is coplanar with the upper surface of the base plate 313.

[0049] Additionally, the feeder changer 2 is equipped with two X position sensors 71 mounted on the front end of the guide plate 61. Figure 2Two X position sensors 71 are arranged at intervals in the Y direction to detect objects located in front of them in the X direction in a non-contact manner. Furthermore, the feeder changer 2 includes four Z position sensors 73 mounted at the four corners of the guide plate 61. Each Z position sensor 73 has a contact 731 at its upper end, which detects the position, i.e., height, of the object in contact with the contact 731 in the Z direction. The contact 731 of each Z position sensor 73 protrudes upward from the upper surface of the guide plate 61.

[0050] In contrast, the component mounting machine 1 has a guide section 9 for guiding the guided plate 61. This guide section 9 also functions as the detection target for the X position sensor 71 and the Z position sensor 73. Regarding this, using... Figure 5 as well as Figure 6 Please provide an explanation.

[0051] Figure 5 It is a three-dimensional diagram schematically showing the relationship between the guided plate and the guiding part. Figure 6 It is a schematic three-dimensional representation of the guide section. For example... Figure 6 As shown, the component mounting machine 1 has a storage compartment 11 that serves as a transfer feeder F. A guide plate 61 is provided such that it protrudes from the bottom plate 111 of the storage compartment 11 toward the rear in the X direction, and the upper surface of the guide plate 61 is coplanar with the upper surface of the bottom plate 111.

[0052] The guided plate 61 has a pair of guide blocks 91 spaced apart in the Y direction. As described later, the guided plate 61 enters the guide section 9 by advancing forward toward the guide section 9 in the X direction. The pair of guide blocks 91 are provided on both sides of the entry path P61 of the guided plate 61 entering the guide section 9 in the Y direction, clamping the guided plate 61 entering the guide section 9 from both sides in the Y direction. In addition, the guide section 9 has a pair of upper detection plates 93 corresponding to the pair of guide blocks 91. The upper detection plates 93 are horizontal flat plates that protrude inward from the upper end of the corresponding guide block 91 (i.e., the entry path P61 side), and are opposite to the entry path P61 from the top. In addition, the upper surface of the upper detection plate 93 constitutes the upper surface of the guide section 9 and is coplanar with the upper surface of the base plate 111. Furthermore, the guide section 9 has a pair of front detection plates 95 corresponding to the pair of guide blocks 91. The front detection plate 95 is a vertical plate that protrudes downward from the front end of the corresponding guide block 91, and is opposite to the entry path P61 from the front.

[0053] Figure 7 This is a schematic diagram illustrating the operation of an elevator. Figure 7The "Lowering Height" column shows the state where the elevator 42 has the casters 421 at the lowering height. At the lowering height, the casters 421 are separated downwards from the bearing plate 35 of the loader 3, and the spacer 34 of the loader 3 rests on the upper surface 411 of the transport robot 4. Static friction exists between the spacer 34 and the upper surface 411, thus restricting the movement of the spacer 34 in the direction of sliding relative to the upper surface 411. That is, the transport robot 4 supports the loader 3 in a constrained support state that restricts the movement of the loader 3 relative to it in the X, Y, and yaw directions.

[0054] On the other hand, Figure 7 The "Lifting Height" column shows the state where the elevator 42 positions the casters 421 at a height higher than the lowering height. At the lifted height, the casters 421 abut against the bearing plate 35 of the loader 3 from below, lifting the bearing plate 35. As a result, the spacer 34 of the loader 3 separates from the upper surface 411 of the handling robot 4 and is supported by the casters 421. It should be noted that... Figure 7 The image shows one of three lifts 42, but all three lifts 42 are configured such that the casters 421 are positioned at either the descending or ascending height.

[0055] As described above, the casters 421 are capable of omnidirectional rotation. Therefore, when the casters 421 of each of the three lifting platforms 42 are at the raised height, the loader 3 supported by these casters 421 can move relative to the handling robot 4 in the X, Y, and lateral directions. That is, the handling robot 4 supports the loader 3 in a free-support state that allows the loader 3 to move relative to the handling robot 4 in the X, Y, and lateral directions. However, even in the free-support state, the range of movement of the loader 3 is also subject to certain limitations. This point will be explained next.

[0056] Figure 8 This diagram schematically illustrates the range of movement of the loader in the Y direction. As described above, a slit 51 is provided on the bottom surface of the base plate 313 of the loader 3, and a pin 55 protrudes upward from the upper surface 411 of the transport robot 4, with the pin 55 engaging the slit 51. Therefore, the movement of the loader 3 relative to the transport robot 4 in the X direction is restricted by the pin 55 abutting against the edge of the slit 51. That is, in the free-supported state, the movement of the loader 3 relative to the transport robot 4 in the X direction is constrained, and the loader 3 moves along the X direction along with the transport robot 4.

[0057] like Figure 8As shown in states A1 to A3, within the range between the two ends of the slit 51 in the extending direction (Y direction) of the slit 51, the pin 55 can move relative to the slit 51, and within this range, the loader 3 can move relative to the transport robot 4. However, if the loader 3 moves relative to the transport robot 4 until the pin 55 abuts against the end of the slit 51, the movement of the loader 3 relative to the transport robot 4 is restricted.

[0058] Furthermore, as described above, force-applying parts 56 are provided on both sides of the loader 3 in the direction of extension of the slit 51. Therefore, as the loader 3 moves relative to the handling robot 4, the pin 55 approaches the slit 51. When the distance between them is less than a predetermined distance, the pressing pads 561 of the force-applying parts 56 abut against the loader 3, applying a force to the loader 3 in the direction in which the pin 55 and the slit 51 separate. In this way, the impact when the pin 55 abuts against the end of the slit 51 is mitigated.

[0059] In addition, such as Figure 8 As shown in states A4 to A5, the slit 51 can rotate relative to the pin 55 about a rotation axis parallel to the Z direction, meaning the loader 3 can rotate relative to the handling robot 4 about this rotation axis. However, the rotation range of the loader 3 relative to the handling robot 4 is limited by the plate 53 and the rod 57.

[0060] Figure 9 This diagram schematically illustrates the range of movement of the loader in the direction of rotation. As shown in state B1, when the rotation angle of the loader 3 relative to the transport robot 4 is small, the plate 53 separates from the pair of rods 57, and the rotation of the loader 3 relative to the transport robot 4 is unrestricted. On the other hand, as shown in states B2 or B3, when the rotation angle of the loader 3 relative to the transport robot 4 increases to a predetermined angle, the plate 53 abuts against either of the pair of rods 57, and the rotation of the loader 3 relative to the transport robot 4 is restricted.

[0061] Figure 10 It is a bottom view schematically illustrating the process of the guided plate entering the guide section and being guided by the guide section. For example... Figure 10 As shown, the guided plate 61 has a front end 611, a side end 612, and a rear end 613, each formed by a straight line. The front end 611 and the rear end 613 are parallel to each other, and the side end 612 is orthogonal to both the front end 611 and the rear end 613. Furthermore, as described above, the guided plate 61 has a rectangle with its two front corners chamfered, and a rounded corner 614 is provided between the front end 611 and the side end 612. Therefore, the width Wa of the front end 611 is shorter than the width Wb of the guided plate 61 (in other words, the distance between the pair of side ends 612).

[0062] The guide block 91 has an inner wall 911 parallel to the X direction, and the space between the inner walls 911 of each pair of guide blocks 91 becomes the guide destination 98 of the guided plate 61. Additionally, the guide block 91 has a tapered portion 912 extending from the inner wall 911 towards the rear end, and the space between the tapered portions 912 of each pair of guide blocks 91 becomes the entrance 99 of the guide section 9. This tapered portion 912 slopes outward towards the rear end in the X direction. Therefore, the width Wd of the entrance 99 of the guide section 9 is wider than the width Wc of the guide destination 98. That is, the guide section 9 has the guide destination 98 on the front (inner) side of the entrance 99, which has a width that narrows towards the front. Furthermore, the width Wc of the guide destination 98 (i.e., the spacing of the inner walls 911) is equal to the width Wb of the guided plate 61.

[0063] exist Figure 10 In states C1 to C3, the actions of the handling robot 4, supporting the loader 3 in a free-supported state, moving in the entry direction Dp (parallel to the X direction) to guide the guided plate 61 into the guide section 9 are shown in a time sequence. As shown in state C1, when the guided plate 61, entering the entrance 99 of the guide section 9, is offset in the Y direction relative to the guide destination 98, the rounded corner 614 of the guided plate 61 abuts against the cone 912 of the guide block 91. When the guided plate 61 moves in the entry direction Dp in this state, since the loader 3 is supported in a free-supported state, it is displaced towards the center side of the guide section 9 by the force applied from the cone 912 to the rounded corner 614. As a result, as shown in state C2, the guided plate 61 is guided toward the guide destination 98. And, as shown in state C3, when the X position sensor 71 approaches the front detection plate 95 until the distance between the X position sensor 71 and the front detection plate 95 is less than a predetermined distance, the X position sensor 71 detects the front detection plate 95. Based on the detection of the front detection plate 95 by the X position sensor 71, the transport robot 4 stops moving in the inbound direction Dp. In this way, the guidance of the guided plate 61 to the guided destination 98 is completed.

[0064] Figure 11 It is a schematic diagram illustrating the actions of the guide board after it has been guided to the target. For example... Figure 11As shown, when the guided plate 61 stops at the guide destination 98, the three lifting platforms 42 begin to rise the loader 3. As the loader 3 rises, the guided plate 61 mounted on the loader 3 rises together with each Z-position sensor 73, and the contacts 731 of each Z-position sensor 73 contact the bottom surface of the upper detection plate 93. It should be noted that during the rise of the loader 3, the movement of the guided plate 61 in the Y direction and the lateral direction is constrained by a pair of guide blocks 91 clamping the guided plate 61. Furthermore, the movement of the guided plate 61 in the X direction is constrained by the slit 51 and the pin 55. Therefore, the loader 3 is constrained in the X, Y, and lateral directions. The pair of upper detection plates 93 are pre-installed such that the bottom surface of each upper detection plate 93 is horizontal at a predetermined height. Therefore, the height difference detected by each Z-position sensor 73 in contact with the bottom surface of the upper detection plate 93 indicates the tilt of the guided plate 61, in other words, the tilt of the loader 3. Therefore, based on the height difference detected by each Z position sensor 73, the height of the casters 421 of the three lifting platforms 42 is adjusted, thereby enabling the loader 3 to be supported horizontally at a specified height.

[0065] Figure 12 This is a block diagram representing the electrical structure of a handling robot. For example... Figure 12 As shown, the handling robot 4 has a controller 49 housed within a housing 41. The controller 49 has a processor (CPU, Central Processing Unit) or arithmetic unit 491 and a storage device (SSD, Solid State Drive) or a storage unit 492. The arithmetic unit 491 is responsible for all control executed by the handling robot 4.

[0066] As described above, the handling robot 4 moves the loader 3 by moving in the X and Y directions. Specifically, the handling robot 4 has wheels and wheel drive units 43 that drive the motors. The wheel drive units 43 drive the wheels, and the handling robot 4 moves. Furthermore, the handling robot 4 has a LiDAR (Light Detection and Ranging) sensor 44. The arithmetic unit 491 of the controller 49 controls each drive unit 425 and 43 based on the detection results of each sensor 71, 73, and 44, thereby executing... Figure 13 Position control as shown.

[0067] Figure 13This is a flowchart illustrating the position control of the loader performed by the transport robot. In step S101, the calculation unit 491 controls the wheel drive unit 43 based on the surrounding environment of the feeder changer 2 detected by the LiDAR sensor 44, thereby transporting the loader 3 towards the storage compartment 11 of the component mounting machine 1 via the transport robot 4, so that the loader 3 is positioned opposite the storage compartment 11 from the rear side in the X direction. Furthermore, during the transport of the loader 3 towards the storage compartment 11 via the transport robot 4, the calculation unit 491 controls each lever drive unit 425 to position each caster 421 at a lowering height. That is, the transport robot 4 supports the loader 3 while transporting it under constrained support conditions. Additionally, when the loader 3 reaches the relative position opposite the component mounting machine 1, the transport robot 4 stops at that relative position.

[0068] In step S102, the calculation unit 491 drives the control lever 425 to raise each caster 421 from the lowering height to the rising height. As a result, the handling robot 4 lifts the loader 3 from the upper surface 411 of the housing 41 via each caster 421, supporting the loader 3 in a free-support state.

[0069] In step S103, the arithmetic unit 491 controls the wheel drive unit 43 to move the handling robot 4 in the approach direction Dp, bringing the loader 3 closer to the component mounting machine 1's storage compartment 11. Simultaneously, the guided plate 61 enters the guide unit 9, as if using... Figure 10 As explained, the guided plate 61 is guided by the guiding unit 9 toward the guiding destination 98 (step S104). Then, when the guided plate 61 is guided to the guiding destination 98 and a pair of X position sensors 71 detect the front detection plate 95 respectively ("Yes" in step S105), the calculation unit 491 stops the wheel drive unit 43 from driving the wheels, and stops the movement of the transport robot 4 (step S106). As a result, the two Z position sensors 73 on one side of the Y direction of the four Z position sensors 73 face the upper detection plate 93 on one side of the pair of upper detection plates 93 from the lower side of the Z direction, and the two Z position sensors 73 on the other side of the Y direction of the four Z position sensors 73 face the upper detection plate 93 on the other side of the pair of upper detection plates 93 from the lower side of the Z direction.

[0070] In step S107, the calculation unit 491 restricts the movement of the transport robot 4 in the X and Y directions by locking or braking the wheels of the transport robot 4. Then, the calculation unit 491 raises the loader 3 via each lever drive unit 425 (step S108). As the loader 3 rises, the four Z position sensors 73 also rise.

[0071] When the contacts 731 of three or more of the four Z position sensors 73 come into contact with the upper detection plate 93 and the three or more Z position sensors 73 detect the upper detection plate 93, the arithmetic unit 491 controls each lever drive unit 425 to stop the loader 3 and each Z position sensor 73 from rising (step S110).

[0072] Next, the calculation unit 491 obtains the height of the upper detection plate 93 output by three or more Z position sensors 73 that detect the upper detection plate 93 (step S111), and calculates a correction value for the height of each caster 421 based on the obtained height (step S112). Specifically, it calculates the offset between the plane containing the obtained height and the reference horizontal plane, and calculates the correction value for the height of each caster 421 to correct the offset. Here, the reference horizontal plane is the horizontal plane containing the height detected by each Z position sensor 73 when the loader 3 is horizontally supported at the target height. Then, the calculation unit 491 controls each lever drive unit 425 based on the correction value to adjust the height of each caster 421 (step S113). Thus, the tilt and height of the loader 3 relative to the horizontal plane are corrected. The calculation unit 491 repeats steps S111 to S113 until the height detected by each Z position sensor 73 converges within a specified allowable range (until "yes" is achieved in step S114). Here, the allowable range is the allowable range of offset relative to the reference horizontal plane. Furthermore, when step S114 is completed, the feeder changer 2 is no longer in contact with the component mounting machine 1 except for the contact 731 of the Z position sensor 73 (i.e., it is separated).

[0073] Thus, when Figure 13When the position control is completed, the loader 3 is horizontally supported at the target height. As a result, the loader 3 is able to perform loading of the feeder F relative to the hopper 11 and unloading of the feeder F from the hopper 11. That is, the loader 3 has a Ya axis that drives the feeder holder 32 (trunk) in the Y direction, an Xa axis that moves the feeder F in the X direction, and a Yb axis that moves the Xa axis in the Y direction. When loading the feeder F into the hopper 11, the feeder holder 32 is driven in the Y direction via the Ya axis, so that the positions of the feeder F and the loading destination of the hopper 11 are aligned in the Y direction. In addition, the Xa axis is driven in the Y direction via the Yb axis, so that the Xa axis is aligned with the position of the feeder F in the Y direction. Then, the feeder F is transferred from the feeder holder 32 to the loading destination of the hopper 11 via the Xa axis. Conversely, when unloading the feeder F from the magazine 11, the Xa axis is driven in the Y direction via the Yb axis, aligning the position of the Xa axis and the feeder F in the Y direction. Additionally, the feeder holder 32 is driven in the Y direction via the Ya axis, aligning the position of the Xa axis and the unloading destination of the feeder holder 32 in the Y direction. Then, the feeder F is transferred from the magazine 11 to the unloading destination of the feeder holder 32 via the Xa axis.

[0074] In the embodiment described above, a Z-position sensor 73 (detection unit) is installed on the loader 3 (working unit) that performs loading / unloading (prescribed operation) of the feeder F on the component mounting machine 1 (working object device). Additionally, the component mounting machine 1 has an upper detection plate 93 (reference component, reference plate). Then, based on the height detection result of the upper detection plate 93 by the Z-position sensor 73, the loader 3 is driven along the Z direction (vertical direction), thereby adjusting the height and tilt of the loader 3 (steps S111 to S114). That is, in locations other than the Z-position sensor 73, it is not necessary for the feeder changing machine 2 (working device) to contact the component mounting machine 1 for positioning the loader 3 in the Z direction. As a result, it is possible to position the feeder changing machine 2 relative to the component mounting machine 1 in the Z direction while suppressing the increase in size and weight of the feeder changing machine 2 and the component mounting machine 1.

[0075] Additionally, four Z-position sensors 73 (height sensors) are provided to detect the height of four different detection positions (the positions contacted by the contacts 731) on a pair of upper detection plates 93 (reference components). Then, the controller 49 (control unit) controls three elevators 42 (vertical drive units) based on the heights of at least three detection positions detected by at least three of the four Z-position sensors 73, thereby adjusting the height and tilt of the loader 3 relative to the pair of upper detection plates 93 (steps S109, S111 to S114). In this structure, in locations other than the four Z-position sensors 73, it is not necessary to have the feeder changer 2 contact the component mounting machine 1 for positioning the loader 3 in the Z direction. As a result, it is possible to position the feeder changer 2 relative to the component mounting machine 1 in the Z direction while suppressing the enlargement and weight of the feeder changer 2 and the component mounting machine 1.

[0076] Furthermore, the controller 49 controls the handling robot 4 (horizontal handling unit) to stop the loader 3 in the horizontal direction when the four Z position sensors 73 are respectively opposite to the upper detection plate 93 in the Z direction (steps S104 to S106). Then, based on the detection results obtained by the Z position sensors 73, the controller adjusts the height and tilt of the loader 3 (steps S108 to S114). This structure enables the adjustment of the height and tilt of the loader 3 based on the results obtained by reliably detecting the height of the upper detection plate 93 by at least three Z position sensors 73.

[0077] Additionally, the loader 3 has a guided plate 61 (guided section) mounted on it, and four Z-position sensors 73 are mounted on the guided plate 61. In contrast, the component mounting machine 1 has a guide section 9, which guides the guided plate 61, which enters the guide section 9 in the X direction (horizontal direction), towards a guide destination 98 (guided position) opposite a pair of upper detection plates 93 in the Z direction. Furthermore, the controller 49 controls the handling robot 4 to cause the guided plate 61 to enter the guide section 9 from the X direction and to position the guided plate 61 at the guide destination 98, thereby causing the four Z-position sensors 73 to be opposite the upper detection plates 93 in the Z direction. In this configuration, by guiding the guided plate 61 through the guide section 9, the four Z-position sensors 73 can be reliably opposite the upper detection plates 93 in the Z direction, and the height of the upper detection plates 93 can be detected.

[0078] Additionally, the guide section 9 has a pair of guide blocks 91 that clamp the guided plate 61 from both sides relative to the entry path P61 of the guide section 9, and guides the guided plate 61 to the guide destination 98 by means of the pair of guide blocks 91. In this structure, by guiding the guided plate 61 by the guide blocks 91, the four Z position sensors 73 can be reliably positioned relative to the upper detection plate 93 in the Z direction, and the height of the upper detection plate 93 can be detected.

[0079] Additionally, a pair of upper detection plates 93 (detection plates) are provided corresponding to a pair of guide blocks 91. Furthermore, one end of the guided plate 61 in the Y direction, which is guided to the guide destination 98, faces one of the upper detection plates 93, and the other end of the guided plate 61 in the Y direction faces the other upper detection plate 93. Correspondingly, a portion (two on one side) of the four Z-position sensors 73 is disposed at one end of the guided plate 61, and the other portion (two on the other side) is disposed at the other end of the guided plate 61. In this configuration, the four Z-position sensors 73 are reliably positioned relative to the upper detection plates 93 in the Z direction, and based on the reliable detection of the height of the upper detection plates 93, the height and tilt of the loader 3 can be adjusted.

[0080] Furthermore, the system includes three casters 421 (support members) that support the loader 3 from below by abutting against it at different support positions, and three lever drive units 425 (support member drive units) that individually drive each of the three casters 421 in the Z direction. In contrast, the controller 49 controls the height of the three casters 421 via the three lever drive units 425, thereby adjusting the height and tilt of the loader 3. This structure allows for reliable adjustment of the height and tilt of the loader 3.

[0081] Thus, in the above embodiments, the component mounting machine 1 corresponds to an example of the "work object device" of the present invention, the loader 3 corresponds to an example of the "work unit" of the present invention, the handling robot 4 corresponds to an example of the "horizontal handling unit" of the present invention, the three elevators 42 correspond to an example of the "vertical drive unit" of the present invention, the upper detection plate 93 corresponds to an example of the "reference component" of the present invention, the four Z position sensors 73 correspond to an example of the "detection unit" of the present invention, the controller 49 corresponds to an example of the "control unit" of the present invention, the feeder changing machine 2 corresponds to an example of the "work device" of the present invention, the Z position sensor 73 corresponds to an example of the "height sensor" of the present invention, the guided plate 61 corresponds to an example of the "guided part" and "guided plate" of the present invention, the guide part 9 corresponds to an example of the "guide part" of the present invention, and the guide destination 98 corresponds to an example of the "guide position" of the present invention. The guide block 91 corresponds to an example of the "guide block" of the present invention, the upper detection plate 93 corresponds to an example of the "detection plate" of the present invention, the caster 421 corresponds to an example of the "support member" of the present invention, the rod drive part 425 corresponds to an example of the "support member drive part" of the present invention, the magazine 11 corresponds to an example of the "worked part" of the present invention, the upper detection plate 93 corresponds to an example of the "reference plate" of the present invention, and the system consisting of the component mounting machine 1 and the feeder changing machine 2 corresponds to an example of the "working system" of the present invention.

[0082] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be made to the above content as long as the spirit is not departed from. For example, the number of Z position sensors 73 is not limited to 4, but may be 3 or 5 or more.

[0083] Alternatively, the number of elevators 42 can be changed appropriately.

[0084] In addition, in step S109, the Z position sensor 73 contacts the guide portion 9 from the bottom, but the configuration of the Z position sensor 73 can also be changed so that the Z position sensor 73 contacts the guide portion 9 from the top.

[0085] Alternatively, the slit 51 could be placed on the transport robot 4, and the pin 55 on the loader 3. Alternatively, placing them is not mandatory.

[0086] Alternatively, the flatbed 53 can be placed on the handling robot 4, and the lever 57 can be placed on the loader 3. Or, placing them is not necessary.

[0087] In addition, setting up the force application unit 56 is not necessary.

[0088] Furthermore, specific examples of the working device are not limited to the feeder changing machine 2 of the feeder F of the component mounting machine 1. For example, the working device could also be a device for replenishing solder to a solder printer.

[0089] Explanation of icon numbers

[0090] 1… Component mounting machine; 11… library; 2…Feeder replacement machine; 3…loader; 4… Transport robots; 42…lifter; 421… casters; 425… lever drive unit; 49… Controller; 61…guided board; 73…Z position sensor; 9…Guiding Department; 91…guide block; 93… Upper detection plate; 98… guides you to your destination.

Claims

1. A working device, comprising: The operations department performs prescribed operations on the equipment being worked on. A horizontal transport unit that transports the work unit in a horizontal direction; A vertical drive unit that changes the height and tilt of the working unit by driving the working unit in the vertical direction; The inspection unit, installed in the work unit, inspects the reference components of the work-object device; and The control unit controls the vertical drive unit based on the detection results from the detection unit. The detection unit detects the height of the reference component. The control unit controls the vertical drive unit based on the height of the reference component detected by the detection unit, thereby adjusting the height and tilt of the working unit relative to the reference component.

2. The working device according to claim 1, wherein, The detection unit has N height sensors, which detect the height of N distinct detection positions in the reference component, where N is an integer greater than or equal to 3. The control unit controls the vertical drive unit based on the height of at least three detection positions detected by at least three height sensors, thereby adjusting the height and tilt of the working unit relative to the reference component.

3. The working device according to claim 2, wherein, After the control unit controls the horizontal transport unit to stop the working unit in the horizontal direction with the N height sensors respectively facing the reference component from the vertical direction, the control unit adjusts the height and tilt of the working unit based on the detection results obtained by the detection unit.

4. The working device according to claim 3, wherein, The working device also has a guided part installed on the working part. The N height sensors are installed on the guided part. The working object device has a guide section. The guide portion will guide the guided portion, which enters the guide portion in the horizontal direction, to a guide position opposite to the reference component in the vertical direction. The control unit controls the horizontal transport unit to cause the guided part to enter the guide unit from the horizontal direction and to position the guided part in the guide position, thereby causing the N height sensors to be respectively opposite the reference component from the vertical direction.

5. The working device according to claim 4, wherein, The guided portion has a flat guided plate. The guide portion has a pair of guide blocks that clamp the guide plate relative to the guide portion's entry path from both sides, and guide the guide plate to the guide position through the pair of guide blocks.

6. The working device according to claim 5, wherein, The reference component has a pair of detection plates disposed corresponding to the pair of guide blocks. One end of the guided plate, which is guided to the guided position, is opposite to one of the pair of detection plates, and the other end is opposite to the other of the pair of detection plates. A portion of the N height sensors are configured at one end, and another portion of the height sensors are configured at the other end.

7. The working device according to any one of claims 1 to 6, wherein, The vertical drive unit includes: M support members that support the working unit from below by abutting against the working unit at different support positions, where M is an integer of 3 or more; and a support member drive unit that drives each of the M support members individually in the vertical direction. The control unit adjusts the height and tilt of the working unit by controlling the height of the M support components using the support component drive unit.

8. A device for working objects, comprising: The work unit performs the prescribed operations using the work equipment; and A horizontally mounted, flat reference plate. The working device includes: a working unit for performing the prescribed work; a horizontal transport unit for transporting the working unit in a horizontal direction; a vertical drive unit for changing the height and tilt of the working unit by driving it in a vertical direction; a detection unit mounted on the working unit for detecting the reference plate; and a control unit for controlling the vertical drive unit based on the detection results of the detection unit. The detection unit detects the height of the reference plate. The control unit controls the vertical drive unit based on the height of the reference plate detected by the detection unit, thereby adjusting the height and tilt of the working unit relative to the reference plate.

9. An operating system, comprising: The working object device; and The working device performs the prescribed operations on the work object device. The working object device includes a reference component. The working device includes: a working unit for performing the prescribed work; a horizontal transport unit for transporting the working unit in a horizontal direction; a vertical drive unit for changing the height and tilt of the working unit by driving it in a vertical direction; a detection unit mounted on the working unit for detecting the reference component; and a control unit for controlling the vertical drive unit based on the detection results of the detection unit. The detection unit detects the height of the reference component. The control unit controls the vertical drive unit based on the height of the reference component detected by the detection unit, thereby adjusting the height and tilt of the working unit relative to the reference component.

10. A method for adjusting the position of a working part relative to a working object device, comprising the following steps: The height of the reference component of the workpiece is detected by a detection unit installed on the work unit that performs the prescribed work on the workpiece; and Based on the height of the reference component detected by the detection unit, the working unit is driven in the vertical direction, thereby adjusting the height and tilt of the working unit.

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