Component conveying device and component mounting system

Abstract

A component conveying device and a component mounting system are provided to improve the alignment accuracy of a component mounting device and a component conveying device. The component conveying device includes a traveling device, a housing member supported by the traveling device and capable of housing a component supply tape, a robot arm supported by the traveling device and capable of conveying the component supply tape between the housing member and the component mounting device, a detection device that detects a mark provided to at least a portion of the component mounting device, and a control device that outputs a control instruction for controlling the position of the robot arm based on the detection data of the mark.

Description

Technical Field

[0001] This disclosure relates to component conveying devices and component mounting systems. Background Technology

[0002] In the manufacturing process of electronic devices, component mounting devices are used to mount components onto a substrate. Patent Document 1 discloses a component conveying device that transports components from an automated warehouse to a component mounting device. Patent Document 2 discloses a cassette-type belt feeder having a cassette housing for storing component supply belts.

[0003] Patent Document 1: Japanese Patent Publication No. 2019-091770

[0004] Patent Document 2: Japanese Patent Publication No. 6049036

[0005] The component conveying device includes an Automated Guided Vehicle (AGV). The AGV travels automatically on the driving surface of the factory facility. The AGV travels on the driving surface according to a prescribed guidance method. An example of a guidance method for guiding the AGV is a magnetic guidance method using a magnetic object installed on the driving surface. When using a component conveying device to transport a component supply belt, if the component conveying device is guided to the component mounting device using a prior art guidance method, the alignment accuracy between the component mounting device and the component conveying device may be insufficient. Summary of the Invention

[0006] The purpose of this disclosure is to improve the positioning accuracy of component mounting devices and component conveying devices.

[0007] According to this disclosure, a component conveying device is provided, comprising: a traveling device; a receiving member supported by the traveling device for receiving a component supply belt; a robotic arm supported by the traveling device for conveying the component supply belt between the receiving member and a component mounting device; a detection device for detecting a mark disposed on at least a portion of the component mounting device; and a control device for outputting a control command for controlling the position of the robotic arm based on the detection data of the mark.

[0008] According to this disclosure, the inadequacy of the alignment accuracy of the component mounting device and the component conveying device can be improved. Attached Figure Description

[0009] Figure 1 This is a perspective view schematically illustrating the component mounting system of the embodiment.

[0010] Figure 2 This is a perspective view schematically illustrating an embodiment of a box-type belt feeder.

[0011] Figure 3 This is a perspective view schematically illustrating the component conveying device of the embodiment.

[0012] Figure 4 This is a top view schematically illustrating the component mounting apparatus of the embodiment.

[0013] Figure 5 This is a schematic front view of the component mounting device according to the embodiment.

[0014] Figure 6 This is a diagram showing the relationship between the second and third labels in the implementation method.

[0015] Figure 7 This is a flowchart illustrating the operation of the component conveying device in the implementation method.

[0016] Figure 8 This is a block diagram illustrating the implementation of a computer system.

[0017] Explanation of reference numerals in the attached figures:

[0018] 1: Component installation system; 2: Automated warehouse; 3: Component conveying device; 4: Component installation device; 5: Management and control device; 6: Elevator device; 7: Warehouse control device; 8: Traveling surface; 9: Conveying control device; 10: Production control device; 11: Inbound and outbound space; 12: Component supply space; 13: Box-type belt feeder; 14: Box shell; 15: Belt reel; 16: Component supply belt; 17: Component supply position; 18: Traveling device; 19: Storage component; 19S: Support column; 20: Robotic arm; 20A: Sliding component; 20B: First arm; 20C: Second arm; 20D: Third arm; 2 0E: Hand; 20F: Guide component; 21: Detection device; 22: Control device; 23: Wheel; 24: Base plate support device; 25: Feeder part; 26: Suction nozzle; 27: Mounting head; 28: External component; 29: Mounting position; 30: Opening; 40: Mark; 41: First mark; 42: Second mark; 42S: Second mark; 43: Third mark; 43S: Third mark; 44: Mark group; 1000: Computer system; 1001: Processor; 1002: Main memory; 1003: Memory; 1004: Interface; AX1: Rotating shaft; AX2: Rotating shaft; AX3: Rotating shaft. Detailed Implementation

[0019] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings, but the present disclosure is not limited thereto. The constituent elements of the embodiments described below can be appropriately combined. In addition, sometimes some constituent elements are not used.

[0020] In this embodiment, an XYZ orthogonal coordinate system is established in the component mounting system 1. The XYZ orthogonal coordinate system is a local coordinate system set within the component mounting system 1. The direction parallel to the X-axis within the defined plane is defined as the X-axis direction. The direction parallel to the Y-axis within the defined plane orthogonal to the X-axis is defined as the Y-axis direction. The direction parallel to the Z-axis, which is orthogonal to both the X-axis and Y-axis, is defined as the Z-axis direction. The rotational or tilting direction centered on the X-axis is defined as the θX direction. The rotational or tilting direction centered on the Y-axis is defined as the θY direction. The rotational or tilting direction centered on the Z-axis is defined as the θZ direction. In this embodiment, the defined plane is parallel to the horizontal plane, and the Z-axis direction is the vertical direction. Alternatively, the defined plane may be tilted relative to the horizontal plane. Furthermore, in the following description, the defined plane will be appropriately referred to as the XY plane.

[0021] [Component Mounting System]

[0022] Figure 1 This is a perspective view schematically illustrating a component installation system 1 according to an embodiment. The component installation system 1 is installed in a factory facility. The component installation system 1 includes an automated warehouse 2, a component conveying device 3, a component installation device 4, and a management and control device 5.

[0023] Automated warehouse 2 stores component C. Automated warehouse 2 has an elevator unit 6. The elevator unit 6 handles the storage and retrieval of component C. Storage of component C refers to moving component C into automated warehouse 2. Retrieval of component C refers to removing component C from automated warehouse 2. For storage and retrieval of component C, the elevator unit 6 transports component C vertically. Automated warehouse 2 and elevator unit 6 are controlled by warehouse control unit 7. Warehouse control unit 7 includes a computer system. Warehouse control unit 7 outputs control commands to control automated warehouse 2 and elevator unit 6.

[0024] Component conveyor 3 transports component C. Component conveyor 3 travels on a designated travel surface 8 on the ground of the factory facility. Multiple component conveyors 3 operate within the factory facility. Component conveyors 3 are controlled by a conveyor control device 9. The conveyor control device 9 includes a computer system. The conveyor control device 9 outputs control commands to the component conveyors 3. The conveyor control device 9 communicates wirelessly with the component conveyors 3.

[0025] The component mounting device 4 mounts component C onto the substrate P. The component mounting device 4 is controlled by the production control device 10. The production control device 10 includes a computer system. The production control device 10 outputs control commands to the component mounting device 4.

[0026] The management control device 5 includes a computer system. The management control device 5 communicates with the warehouse control device 7, the conveyor control device 9, and the production control device 10, respectively. The warehouse control device 7, the conveyor control device 9, and the production control device 10 operate based on management commands output from the management control device 5.

[0027] In the factory facility, an inbound / outbound space 11 and a parts supply space 12 are designated. The parts conveying device 3 can move to the inbound / outbound space 11 and the parts supply space 12 respectively.

[0028] The inbound / outbound space 11 is a space for handling the transfer of parts C from the parts conveying device 3 to the elevator device 6 when they are to be stored in the automated warehouse 2, and for handling the transfer of parts C from the automated warehouse 2 to the parts conveying device 3 from the elevator device 6. The inbound / outbound space 11 is defined by the elevator device 6.

[0029] The component supply space 12 is the space where the process of supplying component C to the component mounting device 4 is carried out. The component supply space 12 is located near the component mounting device 4.

[0030] [Box-type belt feeder]

[0031] Figure 2 This is a perspective view schematically illustrating the embodiment of the box-type belt feeder 13. (See diagram below.) Figure 2 As shown, the cassette-type belt feeder 13 has a cassette housing 14, a belt reel 15 housed in the cassette housing 14, and a component supply belt 16 wound around the belt reel 15. Components C are held on the component supply belt 16. The component supply belt 16 holds multiple components C. The component supply belt 16 is wound around the belt reel 15 and is processed while housed in the cassette housing 14.

[0032] The cassette-type belt feeder 13 includes, as disclosed in Japanese Patent Publication Nos. 6049036 and 6655088, a belt loading section for mounting the belt reel 15, a reel holding shaft for supporting the belt reel 15 so that it can rotate, a belt feeding mechanism for conveying the component supply belt 16 to the component supply position 17, and a top film peeling mechanism for peeling the top film off the component supply belt 16. Detailed description of the cassette-type belt feeder 13 is omitted.

[0033] The component supply belt 16 is stored in the automated warehouse 2, or stored in the automated warehouse 2, or taken out of the automated warehouse 2, or transported by the elevator device 6 or by the component conveying device 3 while it is housed in the box shell 14.

[0034] In this embodiment, the warehousing of the component supply belt 16 includes storing the cassette belt feeder 13 into the automated warehouse 2. The storage of the component supply belt 16 includes storing the cassette belt feeder 13 in the automated warehouse 2. The retrieval of the component supply belt 16 includes retrieving the cassette belt feeder 13 from the automated warehouse 2. The conveying of the component supply belt 16 includes conveying the cassette belt feeder 13 via the elevator device 6 and via the component conveying device 3.

[0035] [Component conveying device]

[0036] Figure 3 This is a perspective view schematically illustrating the component conveying device 3 of an embodiment. The component conveying device 3 conveys a box-type belt feeder 13 including a component supply belt 16. The component conveying device 3 includes a traveling device 18, a storage component 19, a robotic arm 20, a detection device 21, and a control device 22.

[0037] The driving device 18 includes an Automated Guided Vehicle (AGV). The driving device 18 has wheels 23 and motors (not shown) that rotate the wheels 23. The driving device 18 travels automatically on a driving surface 8 of the factory facility. The driving surface 8 is parallel to the XY plane. The driving device 18 travels on the driving surface 8 in a predetermined guiding manner. Examples of guiding methods for the driving device 18 include: magnetic guidance using a magnetic body provided on the driving surface 8; electromagnetic guidance using a metal wire carrying a flowing current provided on the driving surface 8; optical guidance using guide lines drawn on the driving surface 8; and image recognition guidance using an image provided on the driving surface 8 or the ceiling surface.

[0038] The receiving component 19 is capable of receiving a cassette-type belt feeder 13, including a component supply belt 16. The receiving component 19 is supported by a traveling device 18. In one embodiment, the receiving component 19 is supported by the traveling device 18 via a support column 19S. The receiving component 19 is capable of receiving multiple cassette-type belt feeders 13. Figure 3 In the example shown, the storage component 19 can store multiple cassette feeders 13 in such a way that multiple cassette feeders 13 are arranged in the X-axis direction.

[0039] Robotic arm 20 conveys box-type belt feeder 13 between storage component 19 and component mounting device 4. Robotic arm 20 is supported by travel device 18. On the upper surface of travel device 18, robotic arm 20 is positioned closer to the +Y side than storage component 19.

[0040] The robotic arm 20 has a sliding member 20A, a first arm 20B, a second arm 20C, a third arm 20D, and a hand 20E.

[0041] The sliding member 20A is supported by the traveling device 18. The sliding member 20A is movable in the X-axis direction on the upper surface of the traveling device 18. A guide member 20F, which guides the sliding member 20A in the X-axis direction, is mounted on the upper surface of the traveling device 18. A sliding actuator is provided between at least a portion of the sliding member 20A and the guide member 20F to generate power that causes the sliding member 20A to move in the X-axis direction. With the power generated by the sliding actuator, the sliding member 20A can move in the X-axis direction while being guided by the guide member 20F.

[0042] The base end of the first arm 20B is connected to the sliding member 20A. A first stepper motor is provided between at least a portion of the first arm 20B and the sliding member 20A to generate power that causes the first arm 20B to rotate in the θX direction. The power generated by the first stepper motor allows the base end of the first arm 20B to rotate about a rotation axis AX1. The rotation axis AX1 is parallel to the X-axis.

[0043] The base end of the second arm 20C is connected to the first arm 20B. A second stepper motor is provided between at least a portion of the second arm 20C and the first arm 20B, generating power to rotate the second arm 20C in the θX direction. The power generated by the second stepper motor allows the base end of the second arm 20C to rotate about a rotation axis AX2. The rotation axis AX2 is parallel to the X-axis.

[0044] The base end of the third arm 20D is connected to the second arm 20C. A third stepper motor is provided between at least a portion of the third arm 20D and the second arm 20C, generating power to rotate the third arm 20D in the θX direction. The base end of the third arm 20D can rotate about a rotation axis AX3, which is parallel to the X-axis, using the power generated by the third stepper motor.

[0045] Hand 20E is mounted on the front end of the third arm 20D. Hand 20E can releasably hold the cassette feeder 13. Hand 20E has a pair of gripping members. Hand 20E holds the cassette feeder 13 by clamping it with one gripping member and the other gripping member.

[0046] The detection device 21 detects a mark 40 that is provided on at least a portion of the component mounting device 4. The detection device 21 is mounted on at least a portion of the robot arm 20. In one embodiment, the detection device 21 is mounted on the hand 20E.

[0047] In this embodiment, the detection device 21 is a camera that captures images of the marker 40. The detection device 21 detects the marker 40 by capturing images of it. The detection range of the detection device 21 is the field of view of the camera. The detection data of the marker 40 detected by the detection device 21 includes image data of the marker 40 acquired by the camera.

[0048] The camera's optical system is a single-focus optical system. The focal length of the camera's optical system is fixed. The detection device 21 detects the mark 40 by photographing the mark 40 with the mark 40 positioned at the center of the camera's field of view and at the focal point of the camera's optical system.

[0049] The control device 22 includes a computer system. The control device 22 communicates wirelessly with the conveying control device 9. The control device 22 operates based on control commands output from the conveying control device 9.

[0050] Based on the detection data of the marker 40 detected by the detection device 21, the control device 22 outputs control commands to control the position of the robot arm 20. The control device 22 can output control commands to both the driving device 18 and the robot arm 20. The driving device 18 is capable of moving in the XY plane. As the driving device 18 moves in the XY plane, the robot arm 20, supported by the driving device 18, also moves in the XY plane along with the driving device 18. The hand 20E moves relative to the driving device 18 in the X-axis direction by the movement of the sliding member 20A in the X-axis direction. The hand 20E moves in at least one of the Y-axis and Z-axis directions by the rotation of at least one of the first arm 20B, the second arm 20C, and the third arm 20D. By outputting control commands to the driving device 18, the control device 22 can cause the driving device 18 and the robot arm 20 to move in at least one of the X-axis and Y-axis directions. The control device 22 can move the hand 20E disposed at the front end of the robot arm 20 in at least one of the X-axis, Y-axis and Z-axis directions by outputting control commands to the robot arm 20.

[0051] [Component mounting device]

[0052] Figure 4 This is a top view schematically showing the component mounting device 4 of the embodiment. Figure 5 This is a schematic front view of the component mounting device 4 according to the embodiment. The component mounting device 4 mounts the component C onto the substrate P. The component mounting device 4 includes: a substrate support device 24 that supports the substrate P; multiple feeder sections 25 on which a cassette feeder 13 including a component supply belt 16 is mounted; a mounting head 27 having a suction nozzle 26; and an outer mounting member 28.

[0053] A cassette-type belt feeder 13 is mounted on a feeder section 25. The feeder section 25 is slot-shaped. The cassette-type belt feeder 13 is mounted on the feeder section 25 by being inserted into it. Alternatively, the feeder section 25 may not be slot-shaped.

[0054] The cassette feeder 13, when installed on the feeder section 25, supplies component C to component supply position 17. The cassette feeder 13 rotates the belt reel 15, sequentially supplying multiple components C held on the component supply belt 16 to the component supply position 17.

[0055] Multiple feeder sections 25 are provided. Figure 4 and Figure 5 In the example shown, multiple feeder sections 25 are arranged in the X-axis direction. In this embodiment, 16 feeder sections 25 are provided. Each of the multiple feeder sections 25 is equipped with a cassette-type belt feeder 13.

[0056] The nozzle 26 can releasably hold component C. The nozzle 26 can be an attraction nozzle that attracts and holds component C, or a gripping nozzle that clamps and holds component C.

[0057] Mounting head 27 uses a suction nozzle 26 to hold the component C supplied from the cassette feeder 13 and mounts it onto the substrate P. Mounting head 27 is movable between a component supply position 17 where the component C is supplied from the cassette feeder 13 and a mounting position 29 where the substrate P is located. Mounting head 27 holds the component C supplied to component supply position 17 using the suction nozzle 26, and after moving to mounting position 29, mounts the component C onto the substrate P located at mounting position 29. Mounting head 27 sequentially mounts multiple components C supplied to component supply position 17 onto substrate P. Multiple components C held on component supply belt 16 are sequentially removed by mounting head 27 and consumed sequentially.

[0058] The outer mounting component 28 houses the substrate support device 24, the feeder section 25, and the mounting head 27. The substrate support device 24, the feeder section 25, and the mounting head 27 are disposed inside the outer mounting component 28. An opening 30 is provided in a portion of the outer mounting component 28. The feeder section 25 is disposed inside the opening 30.

[0059] The robotic arm 20 of the component conveying device 3 conveys a cassette feeder 13, including a component supply belt 16, between the receiving component 19 and the feeder section 25. The robotic arm 20 conveys the cassette feeder 13 through an opening 30. Before component C is consumed, the cassette feeder 13 is moved into the feeder section 25 by the robotic arm 20 through the opening 30. After component C is consumed, the cassette feeder 13 is removed from the feeder section 25 by the robotic arm 20 through the opening 30.

[0060] At least a portion of the component mounting device 4 is provided with a mark 40. The mark 40 is used to align the component conveying device 3 with the feeder section 25. The mark 40 is detected by the detection device 21. Based on the detection data of the mark 40 detected by the detection device 21, the control device 22 outputs a control command to align the component conveying device 3 with the specific feeder section 25. Based on the detection data of the mark 40 detected by the detection device 21, the control device 22 controls the position of the hand 20E of the robot arm 20 relative to the specific feeder section 25.

[0061] The marking 40 includes: a first marking 41; a second marking 42 disposed around at least a portion of the feeder section 25; and a third marking 43 disposed on each of the plurality of feeder sections 25.

[0062] The number of first markers 41 is less than the number of second markers 42. The number of second markers 42 is less than the number of third markers 43.

[0063] A first mark 41 is provided on the outer surface of the outer component 28. The first mark 41 is provided on at least a portion of the periphery of the opening 30. In an embodiment, only one first mark 41 is provided on the -X side of the opening 30.

[0064] A second mark 42 is disposed on the outer surface of the outer component 28. The second mark 42 is disposed on at least a portion of the periphery of the opening 30. In one embodiment, a plurality of second marks 42 are disposed on the +Z side of the opening 30. In another embodiment, four second marks 42 are spaced apart in the X-axis direction. The four second marks 42 are equally spaced in the X-axis direction. The spacing of the second marks 42 is determined such that only one second mark 42 is configured within the detection range of the detection device 21.

[0065] A third mark 43 is provided on each of the plurality of feeder sections 25. One third mark 43 is provided on each of the plurality of feeder sections 25. In this embodiment, there are 16 feeder sections 25. There are also 16 third marks 43. The 16 third marks 43 are provided at equal intervals in the X-axis direction.

[0066] The position of the first marker 41 in the local coordinate system is, for example, known data derived from the design values ​​of the component mounting device 4, and is pre-stored in the control device 22. The relative positions of the first marker 41 and the second marker 42 are, for example, known data derived from the design values ​​of the component mounting device 4, and are pre-stored in the control device 22. The relative positions of each of the plurality of second markers 42 are, for example, known data derived from the design values ​​of the component mounting device 4, and are pre-stored in the control device 22. The relative positions of the second marker 42 and the third marker 43 are, for example, known data derived from the design values ​​of the component mounting device 4, and are pre-stored in the control device 22. The relative positions of each of the plurality of third markers 43 are, for example, known data derived from the design values ​​of the component mounting device 4, and are pre-stored in the control device 22.

[0067] The first mark 41 is used for the approximate alignment of the driving device 18 of the component conveying device 3 with the component mounting device 4. Based on the detection data of the first mark 41 detected by the detection device 21, the control device 22 outputs a control command to align the driving device 18 of the component conveying device 3 with the component mounting device 4.

[0068] The second mark 42 is used for approximate alignment of the robot arm 20 of the component conveying device 3 with the specific feeder section 25. Based on the detection data of the second mark 42 detected by the detection device 21, the control device 22 outputs a control command to align the robot arm 20 of the component conveying device 3 with the specific feeder section 25.

[0069] The third mark 43 is used for high-precision alignment of the hand 20E of the robot arm 20 with a specific feeder section 25. Based on the detection data of the third mark 43 detected by the detection device 21, the control device 22 outputs a control command to align the hand 20E of the robot arm 20 with the specific feeder section 25.

[0070] [mark]

[0071] Figure 6 This diagram illustrates the relationship between the second marker 42 and the third marker 43 in the implementation embodiment. In the embodiment, a marker group 44 is formed by one second marker 42 and multiple third markers 43. In the embodiment, there are four second markers 42 and sixteen third markers 43. A marker group 44 is formed by one second marker 42 and four third markers 43. There are four marker groups 44.

[0072] The four second markers 42 are all different in size and shape. The sixteen third markers 43 are all the same in size and shape.

[0073] [action]

[0074] Next, the operation of the component conveying device 3 in the embodiment will be explained. Figure 7This is a flowchart illustrating the operation of the component conveying device 3 according to the embodiment. Hereinafter, the operation of installing a specific box-type belt feeder 13, which will be dispensed from the automated warehouse 2, onto a specific feeder section 25 among a plurality of feeder sections 25 will be described. The third mark 43 attached to the specific feeder section 25 will be appropriately referred to as the third mark 43S, and the second mark 42 of the mark group 44 to which the third mark 43S belongs will be appropriately referred to as the second mark 42S. Figure 6 As shown, the third mark 43S is an additional third mark 43 on the eighth feeder section 25, starting from the feeder section 25 closest to the -X side, among the 16 feeder sections 25 arranged in the X-axis direction.

[0075] The component conveying device 3 moves to the inbound / outbound space 11 of the automated warehouse 2 and receives the box-type belt feeder 13 from the automated warehouse 2. The box-type belt feeder 13 is stored in the storage component 19. With the box-type belt feeder 13 stored in the storage component 19, the component conveying device 3 moves to the component mounting device 4.

[0076] After the component conveying device 3 moves to the component supply space 12 near the component mounting device 4, the control device 22 controls at least one of the traveling device 18 and the robot arm 20 to position the first mark 41 within the detection range of the detection device 21. That is, the control device 22 controls the position of the robot arm 20 to detect the first mark 41 by the detection device 21 (step S1).

[0077] As described above, the position of the first mark 41 in the local coordinate system is, for example, known data derived from the design values ​​of the component mounting device 4, and is pre-stored in the control device 22. Therefore, the control device 22 can control at least one of the driving device 18 and the robot arm 20 so that the first mark 41 is positioned within the detection range of the detection device 21.

[0078] After the first mark 41 is positioned within the detection range of the detection device 21, the detection device 21 detects the first mark 41. The control device 22 drives at least one of the driving device 18 and the robot arm 20 so that the first mark 41 is positioned at the center of the field of view of the camera of the detection device 21 and at the focal position of the camera's optical system. The detection device 21 detects the first mark 41 while it is positioned at the center of the field of view of the camera and at the focal position of the camera's optical system. The detection data of the first mark 41 detected by the detection device 21 is output to the control device 22. The detection device 21 is mounted on the hand 20E of the robot arm 20. Based on the driving amount of the driving device 18 and the driving amount of the robot arm 20, the control device 22 can calculate the position of the detection device 21 in the local coordinate system when the first mark 41 is detected. By calculating the position of the detection device 21 when the first mark 41 is detected, the control device 22 can calculate the position of the first mark 41 in the local coordinate system. The control device 22 stores the position of the first mark 41 in the local coordinate system (step S2).

[0079] Through the processing of steps S1 and S2, the driving device 18 of the component conveying device 3 is roughly aligned with the component mounting device 4.

[0080] After the first mark 41 is detected in step S1, the control device 22 controls at least one of the driving device 18 and the robot arm 20 based on the detection data of the first mark 41, so that a specific second mark 42S is positioned within the detection range of the detection device 21. That is, after the first mark 41 is detected, the control device 22 controls the position of the robot arm 20 based on the detection data of the first mark 41, so that the second mark 42S can be detected by the detection device 21 (step S3).

[0081] As described above, the second mark 42S belongs to the mark group 44 to which the third mark 43S belongs of the specific feeder section 25 attached to the mounting box-type belt feeder 13. The relative positions of the first mark 41 and the second mark 42S in the local coordinate system are, for example, known data derived from the design values ​​of the component mounting device 4, and are pre-stored in the control device 22. Therefore, based on the position of the first mark 41 calculated in step S2 and the relative position of the first mark 41 and the second mark 42S, the control device 22 can control at least one of the travel device 18 and the robot arm 20 to position the second mark 42S within the detection range of the detection device 21.

[0082] After the second mark 42S is positioned within the detection range of the detection device 21, the detection device 21 detects the second mark 42S. The control device 22 drives at least one of the driving device 18 and the robot arm 20 so that the second mark 42S is positioned at the center of the field of view of the camera of the detection device 21 and at the focal position of the camera's optical system. The detection device 21 detects the second mark 42S while it is positioned at the center of the field of view of the camera and at the focal position of the camera's optical system. The detection data of the second mark 42S detected by the detection device 21 is output to the control device 22. Based on the driving amount of the driving device 18 and the driving amount of the robot arm 20, the control device 22 can calculate the position of the detection device 21 in the local coordinate system when the second mark 42S is detected. By calculating the position of the detection device 21 when the second mark 42S is detected, the control device 22 can calculate the position of the second mark 42S in the local coordinate system. The control device 22 stores the position of the second mark 42S in the local coordinate system (step S4).

[0083] Through the processing of steps S3 and S4, the robot arm 20 of the component conveying device 3 is roughly aligned with the specific feeder section 25.

[0084] After the second mark 42S is detected in step S4, the control device 22 controls the robot arm 20 based on the detection data of the second mark 42S, so that the third mark 43S is positioned within the detection range of the detection device 21. That is, after the second mark 42S is detected, the control device 22 controls the position of the robot arm 20 based on the detection data of the second mark 42S, so that the third mark 43S can be detected by the detection device 21 (step S5).

[0085] As described above, the relative positions of the second mark 42S and the third mark 43S in the local coordinate system are, for example, known data derived from the design values ​​of the component mounting device 4, and are pre-stored in the control device 22. Therefore, based on the position of the second mark 42S calculated in step S4 and the relative position of the second mark 42S and the third mark 43S, the control device 22 can control the robot arm 20 so that the third mark 43S is positioned within the detection range of the detection device 21.

[0086] After the third mark 43S is positioned within the detection range of the detection device 21, the detection device 21 detects the third mark 43S. The control device 22 drives at least one of the driving device 18 and the robot arm 20 so that the third mark 43S is positioned at the center of the field of view of the camera of the detection device 21 and at the focal position of the camera's optical system. The detection device 21 detects the third mark 43S while it is positioned at the center of the field of view of the camera and at the focal position of the camera's optical system. The detection data of the third mark 43S detected by the detection device 21 is output to the control device 22. Based on at least one of the driving amount of the driving device 18 and the driving amount of the robot arm 20, the control device 22 can calculate the position of the detection device 21 in the local coordinate system when the third mark 43S is detected. By calculating the position of the detection device 21 when the third mark 43S is detected, the control device 22 can calculate the position of the third mark 43S in the local coordinate system. The control device 22 stores the position of the third mark 43S in the local coordinate system (step S6).

[0087] Through the processing of steps S5 and S6, the hand 20E of the robot arm 20 is aligned with the specific feeder part 25 with high precision.

[0088] After holding the cassette feeder 13 housed in the storage member 19 using the hand 20E of the robotic arm 20, the control device 22 installs the cassette feeder 13 on a specific feeder section 25 with the third mark 43S attached based on the detection data of the third mark 43S (step S7).

[0089] In this embodiment, the case where a specific cassette feeder 13 is moved into a specific feeder section 25 is described. When the cassette feeder 13 is moved out of the specific feeder section 25, by performing the processes described in steps S1 to S6, the control device 22 can precisely align the hand 20E of the robot arm 20 with the specific feeder section 25, and then move the cassette feeder 13 out of the specific feeder section 25 via the robot arm 20. The cassette feeder 13 moved out of the specific feeder section 25 is stored in the storage member 19 by the robot arm 20. After the cassette feeder 13 is stored in the storage member 19, the component conveying device 3 moves to the inbound / outbound space 11 of the automated warehouse 2 and transfers the cassette feeder 13 to the automated warehouse 2.

[0090] [Computer Systems]

[0091] Figure 8This is a block diagram illustrating a computer system 1000 according to an implementation method. The aforementioned control device 22 includes the computer system 1000. The computer system 1000 includes: a processor 1001 such as a CPU (Central Processing Unit); main memory 1002, including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory); memory 1003; and an interface 1004 including input / output circuitry. The functions of the control device 22 are stored as a computer program in the memory 1003. The processor 1001 reads the computer program from the memory 1003, expands it in the main memory 1002, and executes the aforementioned processing according to the computer program. Alternatively, the computer program can also be distributed to the computer system 1000 via a network.

[0092] [Effect]

[0093] As explained above, in this embodiment, the component conveying device 3 includes: a driving device 18 comprising an unmanned transport vehicle (AGV); a storage member 19 capable of storing the component supply belt 16; a robotic arm 20; a detection device 21 for detecting a mark 40 disposed on at least a portion of the component mounting device 4; and a control device 22 for outputting control commands to control the position of the robotic arm 20 based on detection data of the mark 40 detected by the detection device 21. Even if the alignment accuracy of the driving device 18 relative to the component mounting device 4 is insufficient, the position of the robotic arm 20 is controlled with high precision based on the detection data of the mark 40 detected by the detection device 21. Therefore, the insufficient alignment accuracy between the component mounting device 4 and the component conveying device 3 when conveying the component supply belt 16 between the storage member 19 and the component mounting device 4 is improved.

[0094] The component mounting device 4 has multiple feeder sections 25. A robotic arm 20 conveys a component supply belt 16 between the receiving component 19 and the feeder sections 25. A control device 22 controls the position of the robotic arm 20 relative to a specific feeder section 25 based on detection data from a marker 40. This allows for the precise loading and unloading of the cassette feeder 13 from the specific feeder section 25.

[0095] In this embodiment, the marker 40 includes: a first marker 41; a second marker 42 disposed around at least a portion of the feeder section 25; and a third marker 43 disposed on a plurality of feeder sections 25. The number of first markers 41 is less than the number of second markers 42. The number of second markers 42 is less than the number of third markers 43. A detection device 21 is mounted on at least a portion of the robot arm 20. After controlling the position of the robot arm 20 to detect the first marker 41 by the detection device 21, the control device 22 detects the first marker 41 by the detection device 21. After controlling the position of the robot arm based on the detection data of the first marker 41 to detect the second marker 42 by the detection device 21, the control device 22 detects the second marker 42 by the detection device 21. After controlling the position of the robot arm 20 based on the detection data of the second marker 42 to detect the third marker 43 by the detection device 21, the control device 22 detects the third marker 43 by the detection device 21. Thus, after the hand 20E of the robot arm 20 is roughly aligned with the specific feeder part 25 using the first mark 41, it is aligned with the second mark 42 with higher precision, and then aligned with the third mark 43 with even higher precision.

[0096] In this embodiment, a tag group 44 is formed by a second tag 42 and a plurality of third tags 43. The control device 22 controls the position of the robot arm 20 to detect the second tag 42S of the tag group 44 to which a specific third tag 43S belongs. Thus, after detecting the second tag 42S, the control device 22 can efficiently control the position of the robot arm 20 to detect the specific third tag 43S.

[0097] [Other Implementation Methods]

[0098] In the above embodiment, the component supply belt 16 is wound around the reel 15 and processed while housed in the housing 14. The component supply belt 16 can also be processed without being housed in the housing 14.

[0099] In the above embodiment, the detection device 21 is a camera. The detection device 21 may not be a camera. The detection device 21 only needs to be able to detect the mark 40 optically and non-contactly.

[0100] In the above embodiment, the position of the robot arm 20 is adjusted in stages using three types of markers 40: a first marker 41, a second marker 42, and a third marker 43. Marker 40 can also be a single type. For example, marker 40 can be only the third marker 43.

Claims

1. A component conveying device, characterized in that, have: Running gear; The storage component, supported by the travel device, is capable of storing the component supply belt; A robotic arm, supported by the travel device, conveys the component supply belt between the storage component and the component mounting device; The detection device detects a mark disposed on at least a portion of the component mounting device; and, The control device, based on the detection data of the markers, outputs control commands to control the position of the robotic arm. The component mounting device has multiple feeder sections. The robotic arm conveys the component supply belt between the storage component and the feeder section. The control device controls the position of the robotic arm relative to a specific feeder section based on the detection data of the markers. The markings include: a first marking; a second marking disposed around at least a portion of the feeder section; and a third marking disposed on each of the plurality of feeder sections. The number of the first markers is less than the number of the second markers. The number of the second marker is less than the number of the third marker. The detection device is installed on at least a portion of the robotic arm. In the control device, The position of the robotic arm is controlled to detect the first marker. After detecting the first marker, based on the detection data of the first marker, the position of the robotic arm is controlled to detect the second marker. After detecting the second mark, the position of the robotic arm is controlled based on the detection data of the second mark to detect the third mark.

2. The component conveying device according to claim 1, characterized in that, A tag group consists of one second tag and multiple third tags. The control device controls the position of the robotic arm to detect the second marker in the marker group to which a specific third marker belongs. After detecting the second marker, the control device controls the position of the robotic arm to detect a specific third marker.

3. The component conveying device according to claim 1 or 2, characterized in that, The detection device is a camera.

4. A component mounting system, characterized in that, have: The component conveying device according to claim 1; The component mounting device has multiple feeder sections for mounting the component supply belt; A detection device for detecting markings disposed on at least a portion of the component mounting device; as well as The control device, based on the detection data of the marked part, outputs a control command to align the component conveying device with a specific feeder section.

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