Component storage system, component storage warehouse, and silo preparation method

Abstract

A component storage warehouse (3) storing a tray (42) in a tray storage rack (32) (tray storage unit) is notified of a hopper preparation instruction (Cp) indicating a component (41) to be held in a slot (445) of a hopper (44). In contrast, a work robot (36) (work execution unit) for performing predetermined work including a tray removal work, a tray placement work, and a pallet insertion work is provided in the component storage warehouse (3), and a hopper (44) for holding the component (41) indicated by the hopper preparation instruction (Cp) in the slot (445) is prepared by the work robot (36). In this way, the pallet (43) of the tray (42) carrying the storage component (41) can be automatically prepared to be inserted into the hopper (44) of the slot (445), and labor saving in component replenishment can be achieved.

Description

Technical Field

[0001] The present invention relates to a technology for mounting components on a substrate, and more particularly to a technology for supplying components stored in a tray placed on a pallet pulled out from a slot of a magazine for mounting on a substrate. Background Art

[0002] It is necessary to appropriately replenish components for a component mounting machine that produces a substrate on which components are mounted by mounting components on the substrate. Therefore, various technologies for performing component replenishment have been proposed. For example, in Patent Document 1, a component supply tool is selected from a component supply tool storage rack according to instructions from a production system and is set on a component supply trolley, and the component supply tool is transported by the component supply trolley, thereby replenishing the components arranged on the component supply tool to the component mounting machine. In Patent Document 2, a display is provided on a bracket for a container filling unit for supplying components, and the display displays information related to the container filling unit. In Patent Document 3, a component pallet received from an intermediate warehouse is loaded on a transporter, and a self-propelled transporter transports the transporter.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-134331

[0006] Patent Document 2: Japanese Patent Application No. 2018-507558

[0007] Patent Document 3: Japanese Patent Application Publication No. 2019-218157 Summary of the invention

[0008] Problems to be solved by the invention

[0009] In addition, components stored in a tray (so-called tray components) are installed on a substrate by a component mounting machine. The so-called component mounting machine takes out components from slots of a silo having a plurality of slots capable of holding components respectively and installs them on a substrate. Specifically, a pallet can be inserted and removed from the slot, and is held on the pallet in a state where the pallet carrying a tray storing components is inserted into the slot. Therefore, for the replenishment of components to the component mounting machine, it is preferable to automatically prepare a silo in which a pallet carrying a tray storing components to be installed is inserted into a slot in the component mounting machine, because it reduces the work of operators. In contrast, Patent Document 1 does not particularly consider components that require pallets, pallets, and silos. Furthermore, Patent Documents 2 and 3 focus on the technology involved in the transportation of components, and do not disclose the preparation of the above-mentioned silos.

[0010] The present invention has been made in view of the above problems, and an object of the present invention is to provide a technology that can automatically prepare a magazine for inserting a pallet on which a tray for storing components is placed into a slot, thereby saving labor in component replenishment.

[0011] Technical solutions to solve problems

[0012] The component storage system of the present invention comprises: a component storage warehouse having a tray storage unit and a job execution unit, wherein the tray storage unit stores trays storing components, and the job execution unit holds a pallet carrying the tray taken out from the tray storage unit in a slot provided in a silo; and a control device, which controls the component storage warehouse, and the silo holds the components stored in the tray carried on the pallet in the slot by holding the pallet in the slot, and the control device notifies the component storage warehouse of the following silo preparation instruction, wherein the silo preparation instruction indicates the components to be held in the slots of the silo, and the job execution unit prepares the silo that holds the components indicated by the silo preparation instruction in the slots.

[0013] The component storage warehouse of the present invention comprises: a tray storage unit for storing trays storing components; and an operation execution unit for holding a pallet carrying the tray taken out from the tray storage unit in a slot provided in a silo, the silo holding the components stored in the tray carried on the pallet in the slot by holding the pallet in the slot, and the operation execution unit prepares a silo for holding the components indicated by the silo preparation indication in the slot, the silo preparation indication indicating the components to be held in the slot of the silo.

[0014] The silo preparation method of the present invention includes the following steps: notifying a silo preparation instruction indicating a component to be held in a slot of the silo; and in a component storage warehouse having a tray storage unit and an operation execution unit, the operation execution unit prepares a silo in which the component indicated by the silo preparation instruction is held in the slot, the tray storage unit stores the tray for storing the component, and the operation execution unit holds a pallet carrying the tray taken out from the tray storage unit in a slot provided in the silo.

[0015] In the present invention (component storage system, component storage warehouse, and silo preparation method) thus constructed, a silo preparation instruction indicating components held in a slot of a silo is notified to the component storage warehouse storing the pallets in the pallet storage unit. In contrast, the component storage warehouse is provided with a work execution unit that holds a pallet carrying a pallet taken out of the pallet storage unit in a slot provided in the silo, and the silo that holds the components indicated by the silo preparation instruction in the slot is prepared by the work execution unit. In this way, the silo that is to be inserted into the slot with the pallet carrying the pallet storing the components can be automatically prepared, and labor saving in component replenishment can be achieved.

[0016] Furthermore, the component storage system may be configured as follows: the control device calculates the replenishment timing of the component mounting machine based on the production plan for producing a substrate on which components are mounted by mounting components on the substrate using the component mounting machine, and notifies the component storage of the following bin preparation instruction, the bin preparation instruction indicating that the preparation of the bin for holding the components to be replenished in the slot at the replenishment timing is performed according to the replenishment timing. In the above configuration, the bin for inserting the pallet carrying the tray for storing components into the slot can be prepared according to the replenishment timing of the components to the component mounting machine.

[0017] Furthermore, the component storage system may be configured as follows: the control device notifies the component storage of a bin preparation instruction that requires the start of an operation to prepare a bin for holding components scheduled to be replenished in the slot at the replenishment timing before the replenishment timing, and the operation execution unit starts an operation to prepare a bin for holding the components indicated by the bin preparation instruction in the slot before the replenishment timing. In the above configuration, it is possible to quickly prepare a bin for inserting a pallet carrying a tray for storing components into the slot according to the replenishment timing of components to the component mounting machine.

[0018] Furthermore, the component storage system may be configured as follows: the control device calculates the replenishment timing based on the execution result of the simulation for predicting the temporal change of the remaining quantity of components in the component mounting machine for mounting components on the substrate according to the production plan. In the above configuration, the pallet carrying the tray for storing components can be prepared to be inserted into the hopper of the slot at an appropriate timing in accordance with the temporal change of the remaining quantity of components in the component mounting machine.

[0019] Furthermore, the component storage system may be configured as follows: a bin ID for identifying the bin is attached to the bin, the control device establishes a correspondence between the bin ID of the bin to which the bin preparation instruction is directed and the bin preparation instruction and notifies the component storage, the component storage has a bin ID reader for reading the bin ID of the bin transported, and the operation execution unit holds the component in the slot of the bin to which the bin ID is attached according to the bin preparation instruction corresponding to the bin ID read by the bin ID reader. In the above configuration, it is possible to hold an appropriate component in the slot of the bin to which the bin ID is attached based on the bin ID read by the bin ID reader.

[0020] Furthermore, the component storage system may be configured as follows: a component ID for identifying a component placed on the pallet is attached to the pallet, the silo preparation instruction indicates that the component ID of the component to be held in the slot of the silo is associated with the slot, and the operation execution unit holds the component of the component ID in the slot based on the association between the slot and the component ID indicated by the silo preparation instruction. In the above configuration, the component of the component ID corresponding to the slot can be appropriately held.

[0021] Furthermore, the component storage system may be configured as follows: a bin ID for identifying the bin is attached to the bin, a component ID for identifying the component placed on the pallet is attached to the pallet, the component storage warehouse stores the bin, the component indicated by the bin preparation instruction is held in the slot of the bin stored in the component storage warehouse by the operation execution unit, and the corresponding relationship between the bin ID of the bin and the component ID held in the slot of the bin is notified to the control device. Thus, the control device can accurately confirm the component held in the slot of the bin based on the corresponding relationship between the bin ID and the component ID.

[0022] Furthermore, the component storage system may be configured as follows: the component storage warehouse further includes a pallet storage unit for storing pallets, and the operation execution unit, after placing a pallet storing the component indicated by the silo preparation instruction among the pallets stored in the pallet storage unit on one of the pallets stored in the pallet storage unit, inserts one pallet into the slot, thereby preparing a silo for holding the component indicated by the silo preparation instruction in the slot. In the above configuration, the silo can be prepared as described above by inserting the pallet on which the pallet storing the component is placed into the empty slot.

[0023] Furthermore, the component storage system may be constructed as follows: a pallet ID for identifying the pallet is attached to the pallet, the component storage warehouse has a pallet ID reader for reading the pallet ID, the bin preparation indication indicates that a component to be held in a slot of the bin is represented by a correspondence between the pallet ID of the pallet inserted into the slot, the component storage warehouse uses the pallet ID reader to read the pallet ID of the pallet inserted into the transported bin, and places a pallet on the pallet that contains the components that have been corresponded to the pallet ID through the bin preparation indication, thereby preparing the bin for holding the components indicated by the bin preparation indication in the slot.

[0024] It should be noted that various specific means of transporting the prepared silo can be considered. That is, the component storage system can be constructed in a manner that the control device causes the unmanned guided vehicle to transport the silo prepared according to the silo preparation instruction to the transportation destination. Alternatively, the component storage system can be constructed in a manner that the control device notifies the operator to transport the silo prepared according to the silo preparation instruction to the transportation destination.

[0025] Effects of the Invention

[0026] According to the present invention, a magazine for inserting a pallet on which a tray for storing components is placed into a slot can be automatically prepared, thereby achieving labor saving in component replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a block diagram showing an example of a component mounting system including the component storage system of the present invention.

[0028] Figure 2A It is a plan view schematically showing a tray and a pallet as work objects in a component storage warehouse.

[0029] Figure 2B It is a side view schematically showing a pallet and a silo as work objects in a component storage warehouse.

[0030] Figure 2C This is a perspective view schematically showing a silo as a work target in a component storage warehouse.

[0031] Figure 3A It is a plan view schematically showing the internal structure of an example of a component storage.

[0032] Figure 3B It is schematically shown Figure 3A A side view of the internal structure of the component storage vault.

[0033] Figure 4 It is a diagram schematically showing the structure of an AGV and a component mounting machine.

[0034] Figure 5 This is a diagram showing an example of the specific content of the silo configuration information.

[0035] Figure 6 This is a diagram showing an example of simulation parameters required for executing a simulation.

[0036] Figure 7 This is a diagram showing an example of the calculation contents of the component margin simulation.

[0037] Figure 8 This is a diagram showing an example of a component out graph indicating the timing at which a component out error occurs.

[0038] Fig. 9 This is a diagram showing an example of a replenishment possible time period.

[0039] Fig.10 It is a diagram showing the timing of each action performed for bunker preparation.

[0040] Fig.11 This is a flowchart showing an example of a method for creating silo configuration information.

[0041] Fig. 12A It is a plan view schematically showing the internal structure of the first modified example of the component storage.

[0042] Fig. 12B It is schematically shown Fig. 12A A side view of the internal structure of the component storage vault.

[0043] Fig.13 It is a plan view schematically showing the internal structure of the second modified example of the component storage.

[0044] Fig.14A It is a plan view schematically showing the internal structure of a third modified example of the component storage.

[0045] Fig. 14B It is schematically shown Fig.14A A side view of the internal structure of the component storage vault.

[0046] Fig.15 This is a diagram showing an example of a method of sharing a state for synchronization of operations of a computer, a component storage, and an AGV. DETAILED DESCRIPTION

[0047] Figure 1 This is a block diagram showing an example of a component mounting system having a component storage system of the present invention. The component mounting system 1 produces a component mounted substrate (a substrate on which components have been mounted) by mounting components (electronic components) on a substrate (printed substrate). The component mounting system 1 includes a computer 2 and a component storage warehouse 3, and the computer 2 and the component storage warehouse 3 cooperate to form an example of the "component storage system" of the present invention.

[0048] The computer 2 has a processor, i.e., a computing unit 21, which is composed of, for example, a CPU (Central Processing Unit), a memory, etc., and a storage unit 22, which is composed of, for example, an HDD (Hard Disk Drive), etc. The storage unit 22 stores a production plan P indicating the type and number of substrates to be produced and substrate data D indicating the component names (in other words, the types of components) and the number of components mounted on the substrate in order to produce the substrate of the predetermined substrate type. It should be noted that when at least one of the function, shape, and size of the component is different, the component name is set to be different. When producing multiple substrate types, the substrate data D is prepared for each substrate type and stored in the storage unit 22. In addition, the computer 2 prepares a silo preparation instruction Cp based on the production plan P and the substrate data D and stores it in the storage unit 22. The details of the silo preparation instruction Cp will be described later.

[0049] Furthermore, the computer 2 has a UI (User Interface) 23 composed of input devices such as a keyboard and a mouse, and output devices such as a display. Therefore, the operator can input data to the computer 2 by operating the input device of UI23, and can confirm the content notified by the computer 2 by confirming the output device of UI23. It should be noted that it is not necessary to construct the input device and the output device separately, and the input device and the output device can also be integrally constructed by a touch screen display. Furthermore, the computer 2 has a communication unit 24 for communicating with external devices such as the component storage 3. The communication based on the communication unit 24 can be any of wired communication and wireless communication.

[0050] Figure 2A is a top view schematically showing a pallet and a tray as work objects in a component storage warehouse. Figure 2B is a side view schematically showing a pallet and a silo as work objects in a component storage warehouse. Figure 2C These are perspective views schematically showing a silo as a work object in a component storage warehouse. In these drawings, an X direction as a horizontal direction, a Y direction as a horizontal direction orthogonal to the X direction, and a Z direction as a vertical direction are shown.

[0051] like Figure 2A As shown, a plurality of components 41 are arranged in a matrix and stored in a tray 42. The tray 42 is provided with a component ID 41d, which is a barcode for identifying the components 41 stored in the tray 42, and a tray ID 42d, which is a barcode for identifying the tray 42. Furthermore, the tray 42 storing the components 41 is placed on a pallet 43. The pallet 43 is provided with a pallet ID 43d, which is a barcode for identifying the pallet 43. Furthermore, the pallet 43 on which the pallet 42 is placed is placed in a bin 44.

[0052] The hopper 44 has a rectangular parallelepiped housing 441, which is Figure 2B , Figure 2C The housing 441 has openings 442 on both sides (in the X direction in the example). A barcode identifying the bin 44, i.e., a bin ID 44d, is attached to the upper surface of the housing 441. The housing 441 has openings 442 on both sides (in the X direction in the example). Figure 2B , Figure 2CIn the example of the embodiment, two side plates 443 are opposite to each other in the Y direction), and a plurality of protrusions 444 are arranged at equal intervals in the inner wall of each side plate 443. Furthermore, two protrusions 444 provided at the same height in different side plates 443 can form a pair and support the pallet 43. That is, the upper side of a pair of protrusions 444 functions as a slot 445 for inserting the pallet 43. In this way, the silo 44 has a plurality of slots 445 arranged in the Z direction, and the pallet 43 inserted into the slots 445 is supported from the lower side by a pair of protrusions 444. In this way, the components 41 stored in the tray 42 placed on the pallet 43 are held in the slots 445.

[0053] The housing 441 has a bottom plate 446 and a top plate 447 that are opposite to each other in the Z direction, and two side plates 443 are mounted on the bottom plate 446 and the top plate 447 in a manner that supports the top plate 447 relative to the bottom plate 446. A guide groove 448 extending in the insertion and removal direction is provided on the inner wall of the bottom plate 446 and the top plate 447. The guide grooves 448 of the bottom plate 446 and the top plate 447 are opposite to each other in the Z direction.

[0054] Furthermore, a flat plate-shaped pallet push-out tool 45 extending in the Z direction is provided separately from the hopper 44, and the pallet push-out tool 45 can be installed on the hopper 44 by inserting the upper end and the lower end of the pallet push-out tool 45 into the guide grooves 448. In this way, the pallet push-out tool 45 installed on the hopper 44 can move along the guide grooves 448 in the insertion and removal direction.

[0055] Figure 3A is a top view schematically showing the internal structure of an example of a component storage warehouse, Figure 3B It is schematically shown Figure 3A A side view of the internal structure of the component storage vault. Figure 3A as well as Figure 3B As shown, the component storage warehouse 3 includes a storage unit 31, a tray storage rack 32, a pallet storage rack 33, a storage unit 34, and a housing 35 for storing them. The housing 35 has a storage door 351 for opening and closing the storage unit 31 and a storage door 352 for opening and closing the storage unit 34.

[0056] The storage section 31 functions as a workshop for storage work by operators. That is, the operator can store the pallet 42 by opening the storage door 351 and placing the pallet 42 on the storage section 31. Thus, the pallet 42 storing a sufficient number of components 41 is stored in the component storage warehouse 3. In addition, the operator can store the pallet 43 by opening the storage door 351 and placing the pallet 43 on the storage section 31. Thus, an empty pallet 43 (i.e., a pallet 43 without a pallet 42) is stored in the component storage warehouse 3.

[0057] The tray storage rack 32 has a plurality of tray racks arranged in the Z direction. The tray 42 can be inserted into or pulled out of the tray rack of the tray storage rack 32. The tray storage rack 32 has a function of storing the tray 42 storing the components 41.

[0058] The pallet storage rack 33 has a plurality of pallet racks arranged in the Z direction. The pallet 43 can be inserted into or pulled out of the pallet rack of the pallet storage rack 33. The pallet storage rack 33 has a function of storing empty pallets 43.

[0059] The outbound storage section 34 functions as a place for outbound storage of the bin 44 prepared according to the bin preparation instruction Cp. That is, for the bin 44 which is placed from the outside in the outbound storage section 34 with the outbound storage door 352 opened, the bin preparation operation of holding the predetermined tray 42 in the predetermined slot 445 according to the bin preparation instruction Cp is performed. Furthermore, the component storage warehouse 3 can outbound the bin 44 which has completed the bin preparation operation from the outbound storage section 34 through the outbound storage door 352 to the outside.

[0060] Furthermore, the component storage warehouse 3 is provided with a working robot 36, an ID reader 371, and a camera 372 inside the housing 35. The working robot 36 is a manipulator having an end effector 361 at the front end. The working robot 36 has a degree of freedom in a plurality of directions including a vertical direction, a horizontal direction, and a rotation direction centered on a rotation axis parallel to the vertical direction, and performs the operations described later by displacing the end effector 361 in these directions. The end effector 361 is a robot hand that grasps or releases an object of operation. The ID reader 371 is a barcode scanner that reads the above-mentioned ID (component ID 41d, tray ID 42d, silo ID 44d) composed of a barcode, and is mounted on the end effector 361 of the working robot 36. The reading of the ID based on the ID reader 371 is performed by moving the end effector 361 of the working robot 36 toward the barcode and making the ID face the ID reader 371. The camera 372 is disposed above the working robot 36, and images, from above, an object grasped by the end effector 361 of the working robot 36. However, the arrangement of the ID reader 371 and the camera 372 is not limited to this example.

[0061] like Figure 1As shown, the component storage warehouse 3 includes a control unit 391 composed of, for example, a processor or FPGA (Field-Programmable Gate Array), a storage unit 392 composed of, for example, an HDD, and a communication unit 393. The storage unit 392 stores storage information Is indicating the storage state of the pallet 42 by the pallet storage rack 32 and the storage state of the pallet 43 by the pallet storage rack 33. That is, different numbers (pallet rack numbers) are assigned to the plurality of pallet racks of the pallet storage rack 32, and the storage information Is indicates the pallet rack numbers in correspondence with the component ID 41d and the pallet ID 42d assigned to the pallet 42 stored in the pallet rack. Furthermore, different numbers (pallet rack numbers) are assigned to the plurality of pallet racks of the pallet storage rack 33, and the storage information Is indicates the pallet rack numbers in correspondence with the pallet ID 43d assigned to the pallet 43 stored in the pallet rack.

[0062] The communication unit 393 communicates with the communication unit 24 of the computer 2, receives the silo preparation instruction Cp from the communication unit 24, and stores it in the storage unit 392. The silo preparation instruction Cp indicates the silo ID 44d of the silo 44 to be prepared and the silo configuration information indicating the configuration of the silo to be prepared. The silo configuration information identifies a plurality of slots 445 by different numbers (slot numbers), and indicates the components 41 held in the slots 445 by the numbers of the slots 445. In particular, the pallet configuration information described next is used in the establishment of the correspondence.

[0063] That is, the bin configuration information includes the pallet configuration information about the pallet 43 used to hold the component 41 in the slot 445. The pallet configuration information indicates that the pallet ID 43d of the pallet 43 is associated with the pallet ID 42d of the tray 42 placed on the pallet 43 and the component ID 41d of the component 41 stored in the pallet 42. Furthermore, the bin configuration information associates the component 41 with the slot 445 that holds the component 41 by associating the pallet configuration information of the pallet 43 held in the slot 445 with the number of the slot 445. It should be noted that the computer 2 receives the storage information Is from the component storage warehouse 3 in advance. Furthermore, the computer 2 creates the pallet configuration information based on the result of confirming the component ID 41d and the pallet ID 42d attached to the pallet 42 stored in the pallet storage rack 32 and the pallet ID 43d attached to the pallet 43 stored in the pallet storage rack 33 using the storage information Is.

[0064] The control unit 391 controls the working robot 36, the ID reader 371, and the camera 372 to perform the following operations. For example, when placing the pallet 42 in the storage unit 31, the control unit 391 reads the component ID 41d and the pallet ID 42d attached to the pallet 42 through the ID reader 371, and then inserts the pallet 42 into the pallet rack of the pallet storage rack 32 through the end effector 361. The control unit 391 associates the component ID 41d, the pallet ID 42d, and the number of the pallet rack and registers them in the storage information Is.

[0065] When the pallet 43 is placed in the storage unit 31, the control unit 391 reads the pallet ID 43d attached to the pallet 43 through the ID reader 371, and then inserts the pallet 43 into the pallet rack of the pallet storage rack 33 through the end effector 361. The control unit 391 establishes a correspondence between the pallet ID 43d and the number of the pallet rack and registers them in the storage information Is.

[0066] When the bin 44 is placed in the outgoing storage unit 34, the control unit 391 reads the bin ID 44d attached to the bin 44 through the ID reader 371, and then confirms the bin configuration information corresponding to the bin ID 44d through the bin preparation instruction Cp. Then, the control unit 391 holds the component 41 in the slot 445 according to the bin configuration information, thereby preparing the bin 44 having the configuration indicated by the bin configuration information.

[0067] Specifically, the control unit 391 controls the working robot 36 based on the result of confirming the pallet 43 to be inserted into the numbered slot 445 and the pallet 42 to be placed on the pallet 43 according to the correspondence between the number of the slot 445 of the magazine 44 and the pallet configuration information. That is, the control unit 391 determines the pallet rack storing the pallet 42 with the component ID 41d and the pallet ID 42d indicated by the pallet configuration information, and causes the working robot 36 to perform the pallet removal operation of removing the pallet 42 from the pallet rack.

[0068] Furthermore, the control unit 391 identifies a pallet rack that accommodates a pallet 43 with a pallet ID 43d indicated by the pallet configuration information, and causes the working robot 36 to perform a pallet loading operation of loading the pallet 42 taken out in the pallet taking-out operation on the pallet 43 of the pallet rack. It should be noted that the pallet configuration information includes a pallet layout indicating the direction and position of the pallet 42 loaded on the pallet 43, and the control unit 391 controls the working robot 36 based on an image obtained by photographing the pallet 42 taken out by the working robot 36 by the camera 372, thereby loading the pallet 42 in the direction and position indicated by the pallet layout.

[0069] Then, the control unit 391 determines the slot 445 of the slot number corresponding to the pallet configuration information, and causes the working robot 36 to perform a pallet insertion operation of taking out the pallet 43 on which the pallet 42 is loaded in the pallet loading operation from the pallet rack and inserting it into the slot 445. By performing these pallet taking-out operations, pallet loading operations, and pallet insertion operations with respect to each slot 445 indicated by the bin configuration information, a bin 44 is prepared to hold the component 41 indicated by the bin preparation indication Cp in the slot 445. The bin 44 thus prepared is transported from the outbound section 34 of the component storage warehouse 3 to the component mounting machine 6 by the AGV (Automatic Guided Vehicle) 5.

[0070] That is, Figure 1 As shown, the component mounting system 1 includes a plurality of component mounting machines 6. More specifically, a plurality of (3) component mounting machines 6 arranged in series form a mounting line 60, and a plurality of (2) mounting lines 60 are provided. Each component mounting machine 6 mounts electronic components such as capacitors, resistors, or integrated circuits on a substrate (printed substrate). The electronic components mounted by the component mounting machine 6 include components 41 (tray components) supplied by the above-mentioned tray 42.

[0071] Figure 4 Schematically shows the structure of an AGV and a component mounting machine. Figure 4 As shown, the AGV 5 has a transport vehicle body 51 and a plurality of wheels 52 rotatably mounted on the transport vehicle body 51, and the transport vehicle body 51 moves with the rotation of the wheels 52. In addition, the AGV 5 has a slide 53 mounted on the upper surface of the transport vehicle body 51, and the bin 44 taken out from the component storage warehouse 3 is held on the slide 53. The slide 53 can be moved in the travel direction ( Figure 4 In the example, the X direction) is extended to move the bin 44. In addition, a working robot 54 is installed on the transport vehicle body 51. The working robot 54 is a manipulator with an end effector 541 at the front end, and the end effector 541 is displaced in various directions. The end effector 541 is a robot hand that grabs or releases the object of the operation. In particular, the working robot 54 operates the pallet pushing tool 45 through the end effector 541.

[0072] Furthermore, AGV5 is provided with a control unit 551, a storage unit 552, a communication unit 553, and a UI (User Interface) 554 built into the transport vehicle body 51. The control unit 551 is composed of, for example, a processor or an FPGA (Field-Programmable Gate Array), and controls the movements of the wheels 52 and the working robot 54. The storage unit 552 is composed of, for example, an HDD, and stores a silo transport instruction Cc for instructing the transport of the silo 44. Furthermore, based on the transport route indicated by the silo transport instruction Cc, the control unit 551 controls the wheels 52, so that the AGV5 moves along the transport route. The communication unit 553 communicates with the communication unit 24 of the computer 2, receives the silo transport instruction Cc from the communication unit 24, and stores it in the storage unit 552. Furthermore, the communication unit 553 can also communicate with the communication unit 393 of the component storage warehouse 3. The UI 554 is, for example, a touch panel display having both a display function and an input function. The operator can confirm the work to be performed by confirming the display of the UI 554 , and can input the progress of the work by operating the UI 554 .

[0073] The component mounting machine 6 has a housing 61, and two silos 44 (44u, 44l) are arranged in the Z direction inside the housing 61. The upper silo 44u of the two silos 44 is opposite to a supply port 611 provided in the housing 61. And, the pallet 43 supplied from the outside is inserted into the slot 445 of the silo 44u. That is, after the AGV5 reaches the component mounting machine 6, it makes the silo 44 (44c) held on the slide 53 opposite to the silo 44u via the supply port 611. Thus, the multiple slots 445 of the silo 44c and the multiple slots 445 of the silo 44u are opposite to each other in the X direction. At this time, the pallet 43 held in the slot 445 of the silo 44c is opposite to the empty slot 445 of the silo 44u. Then, when the working robot 54 presses the pallet pushing tool 45 toward the supply port 611, the pallet 43 held in the bin 44c is pushed out by the pallet pushing tool 45 and inserted into the slot 445 of the bin 44u. In this way, the pallet 43 carrying the tray 42 containing the components 41 is supplied from the bin 44c to the bin 44u.

[0074] If Figure 4As can be seen from the example, the component supply to the magazine 44u in the component mounting machine 6 is performed by supplying the component 41 from the slot 445 of the magazine 44c to the empty slot 445 among the plurality of slots 445 of the magazine 44u. Therefore, it is necessary to prepare in advance the magazine 44c that holds the component 41 in the slot 445 facing the empty slot 445 of the magazine 44u in a state where the magazine 44u faces the magazine 44c. And, the above-mentioned magazine configuration information indicates the configuration of the magazine 44c that should be prepared in this way. The preparation of the above-mentioned magazine 44c is performed by the method described later when the component storage warehouse 3 is installed.

[0075] Furthermore, the component mounting machine 6 includes a pallet pull-out section 62 for inserting and disengaging the pallet 43 with respect to the slots 445 of the magazines 44u and 441, and a component supply section 63 for holding the pallet 43 pulled out by the pallet pull-out section 62, inside the housing 61. Furthermore, the component mounting machine 6 includes a mounting head 64 for taking out components 41 from the tray 42 on the pallet 43 held by the component supply section 63 and mounting them on the substrate. Therefore, each time a component 41 is taken out by the mounting head 64, the number of components 41 stored in the tray 42 on the pallet 43 decreases.

[0076] The pallet pull-out section 62 is located between the bins 44u, 441 and the component supply section 63 when viewed from above in the Z direction, and is lifted and lowered in the Z direction. Furthermore, the pallet pull-out section 62 pulls out the pallet 43 from the slot 445 of the bin 44u to the component supply section 63, or returns the pallet 43 from the component supply section 63 to the slot 445 of the bin 44u. Furthermore, the lower bin 441 of the two bins 44u, 441 serves to store empty pallets 43. Therefore, an empty pallet 43 (i.e., a pallet 43 in which the number of components 41 in the tray 42 stored on the pallet 43 is zero) is recovered from the slot 445 of the bin 44u or the component supply section 63 to the slot 445 of the bin 441 through the pallet pull-out section 62.

[0077] Figure 5 FIG. 1 is a diagram showing an example of the specific contents of the silo configuration information. Figure 5 In the example, only eight slots 445 numbered 1 to 8 are illustrated, but the number of slots 445 of the bin 44 is not limited to this example. As described above, the bin configuration information represents the number of the slot 445 by establishing a correspondence with the pallet configuration information. The pallet configuration information shows the pallet ID 43d of the corresponding pallet 43, the number of the pallet rack that stores the pallet 43, the pallet ID 42d of the pallet 42 to be placed on the pallet 43, the number of the pallet rack that stores the pallet 42, the component ID 41d of the component 41 stored in the pallet 42, and the name of the component 41 stored in the pallet 42.

[0078] Furthermore, the bin configuration information indicates as a transit point the component storage 3 storing the pallet 43 with the pallet ID 43d indicated by the pallet configuration information and the pallet 42 with the component ID 41d and the pallet ID 42d. That is, the component mounting system 1 is provided with a plurality of component storages 3. Therefore, in order to prepare the bin 44 holding the component 41 in each slot 445 as indicated by the bin configuration information, a plurality of component storages 3 may be provided.

[0079] For example, in Figure 5 In the example, component vaults 3a, 3b, and 3c are shown among the plurality of component vaults 3. Component vault 3a corresponds to slots 445 numbered 1, 2, and 6, component vault 3b corresponds to slots 445 numbered 3, 4, and 7, and component vault 3c corresponds to slots 445 numbered 5 and 8. In the example, the computing unit 21 of the computer 2 creates a silo transport instruction Cc indicating that the silo 44 is transported in sequence through component vaults 3a, 3b, and 3c based on the silo configuration information, and sends it to the AGV 5. Then, the AGV 5 moves according to the received silo transport instruction Cc.

[0080] When AGV5 arrives at the component storage warehouse 3a, AGV5 sends an arrival notification indicating that it has arrived at the component storage warehouse 3a. It should be noted that the communication between AGV5 and the component storage warehouse 3 is carried out via the communication unit 553 and the communication unit 393. After the control unit 391 of the component storage warehouse 3a receives the arrival notification, it opens the delivery door 352 and sends an opening notification indicating the content to AGV5. The AGV5 that receives the opening notification brings the transport vehicle body 51 into contact with the shell 35 of the component storage warehouse 3a. As a result, the transport vehicle body 51 and the shell 35 are engaged and positioned with each other at an engaging portion not shown in the figure. Next, AGV5 places the silo 44 supported by the slide 53 on the delivery section 34 by extending the slide 53 toward the delivery section 34 of the component storage warehouse 3a. For example, the carriage 53 has a mechanism for raising and lowering the bin 44, and by lowering the bin 44 moving above the discharge section 34, the bottom surface of the bin 44 can be brought into contact with the discharge section 34 and the bin 44 can be placed. It should be noted that the mechanism for placing the bin 44 on the discharge section 34 is not limited to this example.

[0081] After placing the bin 44 on the outbound section 34, the control section 391 of the component storage warehouse 3a inserts the pallet 42 and the pallet 43 corresponding to the pallet configuration information corresponding to the slot 445 into the slot 445 indicated by the bin configuration information according to the above-mentioned method. Therefore, the pallet 42 and the pallet 43 corresponding to the corresponding pallet configuration information are inserted into the slots 445 numbered 1, 2, and 6, respectively. In this way, the bin 44 that holds the components 41 indicated by the bin configuration information in the slots 445 numbered 1, 2, and 6 is prepared by the component storage warehouse 3a. After the preparation of the bin 44 is completed, the AGV5 takes the bin 44 out of the outbound section 34 by shortening the carriage 53. Then, the AGV5 moves to the component storage warehouse 3b, which is the next transit point.

[0082] When the AGV 5 transports the bin 44 to the component storage warehouse 3b, the bin 44 is handed over by the AGV 5 to the outbound unit 34 of the component storage warehouse 3b, and the tray 42 and the pallet 43 corresponding to the corresponding pallet configuration information are respectively inserted into the slots 445 numbered 3, 4, and 7. Thus, the bin 44 that holds the components 41 indicated by the bin configuration information in the slots 445 numbered 3, 4, and 6 is prepared by the component storage warehouse 3b.

[0083] Furthermore, when the AGV 5 transports the bin 44 to the component storage warehouse 3b, the bin 44 is handed over by the AGV 5 to the outbound section 34 of the component storage warehouse 3b, and the tray 42 and the pallet 43 corresponding to the corresponding pallet configuration information are respectively inserted into the slots 445 numbered 5 and 8. Thus, the bin 44 that holds the components 41 indicated by the bin configuration information in the slots 445 numbered 5 and 8 is prepared by the component storage warehouse 3c.

[0084] The destination is the component mounting machine 6 to which the pallet 43 inserted into the bin 44 is to be replenished among the plurality of component mounting machines 6. Therefore, the AGV 5 transports the bin 44 to the component mounting machine 6 at the destination after passing through all of the component storage warehouses 3a, 3b, and 3c. Then, the pallet 43 inserted into the bin 44c in the component storage warehouses 3a, 3b, and 3c is transferred to the bin 44u built into the component mounting machine 6 at the destination. In this way, the bin 44 of the component mounting machine 6 is replenished with components 41.

[0085] The status indicates whether the pallet 43 is inserted into the slot 445 of the silo 44. That is, when the component storage 3 inserts the pallet 43 into the corresponding slot 445 of the silo 44 transported, it notifies the computer 2 through the communication unit 393 that the pallet 43 is inserted into the slot 445. On the other hand, the computer 2 updates the silo configuration information according to the notified content. The updated silo configuration information is notified to the component storage 3 and shared between the computer 2 and the component storage 3.

[0086] In addition, the component replenishment to the hopper 44 of the component mounting machine 6 can be planned according to the production plan P. Next, the preparation of the component replenishment plan corresponding to the production plan P and the operation of the component storage warehouse 3 based on the component replenishment plan are described. In the preparation of the component replenishment plan, the calculation unit 21 of the computer 2 simulates the operation of the component mounting machine 6 producing the substrate on which the components are mounted according to the production plan P.

[0087] Figure 6 FIG. 1 is a diagram showing an example of simulation parameters required for executing a simulation. Figure 6 In the figure, for each substrate type Bk(n), information (component information) required for the component 41 held in the bin 44 in order to produce Bn(n) substrates of the substrate type Bk(n) on which components are mounted is shown. The component information represents the number of the slot 445 (slot number), the component name (Pa, Pb, ..., etc.), the component ID 41d, the tray ID 42d, the pallet ID 43d, the number of components required Pn(m), and the mounting cycle Pcy(m) by establishing correspondence with each other (m=1, 2, ...). Figure 6 The substrate type Bk(n), production number Bn(n) and production order n in the simulation parameters are specified by the production plan P, and the component information is specified by the substrate data D. Therefore, the calculation unit 21 integrates the production plan P and the substrate data D to create the simulation parameters.

[0088] In the silo 44, two or more slots 445 are allocated to the components 41 with the same component name (in other words, component type). For example, two slots 445 with numbers 1 and 2 are allocated to the component 41 with the component name Pa, and two slots 445 with numbers 3 and 4 are allocated to the component 41 with the component name Pb. That is, the pallet 43 of the tray 42 carrying the components 41 with the same component name is inserted into the two or more slots 445, and these pallets 43 are used in sequence in the component supply. That is, after the components 41 of one pallet 43 are used up, the components 41 of another pallet 43 are started to be used. In this way, the pallet 43 that has run out of components 41 is moved from the silo 44u to the silo 44l as described above, and the slot 445 of the silo 44u into which the pallet 43 is inserted becomes empty.

[0089] The number of components required Pn(m) indicates the number of components 41 of the corresponding component name required to produce Bn(n) substrates of the substrate variety Bk(n) on which components are mounted. The mounting cycle Pcy(m) indicates the cycle for mounting the components 41 of the corresponding component name on the substrate in order to produce the substrate variety Bk(n) on which components are mounted. The value obtained by dividing the cycle time required to produce one substrate of the substrate variety Bk(n) on which components are mounted by the number of components required Pn(m) is equivalent to the mounting cycle Pcy(m).

[0090] The calculation unit 91 performs a simulation to calculate the number of components 41 remaining in each slot 445 of the hopper 44u of the component mounting machine 6 that operates according to the production plan P (and the substrate data D) every time a predetermined time (for example, 1 second) has passed. In other words, this simulation is a component remainder simulation that calculates the time change of the remainder of the components 41 held in each slot 445. The component remainder simulation calculates the time change of the remainder of the component 41 (remainder calculation) by performing an operation of subtracting the number of components 41 consumed by multiplying the mounting cycle Pcy(m) by the predetermined time from the number of components 41 every time a predetermined time has passed. It should be noted that for components 41 with the same component name, more than two slots 445 are allocated, so as the remainder of the component 41, the total of the components 41 remaining in the two or more slots 445 corresponding to the same component name is calculated (total remainder Prt(m)). That is, the total remainder of the component 41 is calculated for each component name.

[0091] Figure 7 FIG. 1 is a diagram showing an example of the calculation contents of the component margin simulation. Figure 7 In the figure, the total remainder Prt(m) and the warning remainder Pre(m) of the component 41 with the same component name are shown correspondingly to each component name. The total remainder Prt(m) is the same as described above. The warning remainder Pre(m) gives the timing for executing component replenishment, for example, the maximum number of components 41 placed on a pallet 43 is set as the warning remainder Pre(m). At least one of the two or more slots 445 allocated to the component name whose total remainder Prt(m) is less than the warning remainder Pre(m) is empty, and a new pallet 43 can be inserted to replenish the component. In this way, the warning remainder Pre(m) gives the timing for starting to replenish the component to the silo 44.

[0092] The calculation unit 91 calculates the Figure 7 The total margin Prt(m) of each component name is used to find the time change of the number of components P (total margin Prt(m)). As a result, it is possible to obtain Figure 8 Component use-up diagram shown.

[0093] Figure 8This is a diagram showing an example of a component run-out chart indicating the timing of a component run-out error. In this diagram, the time axis is taken horizontally, and the production periods of each substrate type Bk(1), Bk(2), ... are schematically shown together. In this diagram, the result of calculating the component run-out timing Tr at which the component 41 of each component name becomes zero based on the component remainder simulation is shown, and the timing of the circular mark is the component run-out timing Tr. In the component remainder simulation, calculations are performed on the premise that at each component run-out timing Tr, a pallet 43 carrying a sufficient number of components 41 is supplied to the corresponding slot 445. That is, the component run-out timing Tr shown in the component run-out chart indicates the time required to supply the component 41 to the slot 445 in order to avoid a component run-out error. In addition, the calculation unit 91 is based on Figure 8 The result of the component exhaustion chart obtained in the calculation is used to calculate the time period during which component replenishment can be performed (replenishment period) ( Fig. 9 ).

[0094] Fig. 9 is a diagram showing an example of a replenishment period. Fig. 9 As described above, for a component name whose total remaining quantity Prt(m) of component 41 is less than the warning remaining quantity Pre(m), at least one slot 445 assigned to the component name is empty, and component replenishment can be started. That is, it is sufficient to replenish the component 41 to the corresponding slot 445 during the period from the replenishment start timing Te when the total remaining quantity Prt(m) of component 41 becomes less than the warning remaining quantity Pre(m) to the component exhaustion timing Tr. Therefore, the period from the replenishment start timing Te to the component exhaustion timing Tr is calculated as the replenishment possible period Tw. The replenishment possible period Tw is calculated for each component name according to each component exhaustion timing Tr.

[0095] Furthermore, the calculation unit 21 of the computer 2 sets the replenishment timing Ts within the replenishable time period Tw (for example, the center of the replenishable time period Tw), and prepares a component replenishment plan in a manner of supplying the component 41 at the replenishment timing Ts. It should be noted that the replenishable time period Tw has a width, so the replenishable time period Tw sometimes overlaps at least partially for two or more component names. In this case, the calculation unit 21 sets the replenishment timing Ts within the repetitive range of the replenishable time periods Tw of these component names (for example, the center of the repetitive range), and prepares a component replenishment plan in a manner of executing the replenishment of the components 41 of these component names together at the replenishment timing Ts. Furthermore, the calculation unit 21 sends the silo preparation instruction Cp to the component storage warehouse 3 in a manner that enables component replenishment to be executed at the replenishment timing Ts.

[0096] Fig.10It is a diagram showing the timing of each action performed for the preparation of the silo. The computer 2 notifies the component vault 3 of the silo preparation instruction Cp at the preparation start timing Tp, and the component vault 3 starts the operation according to the received silo preparation instruction Cp. Specifically, the component vault 3 confirms the silo configuration information contained in the silo preparation instruction Cp, and confirms the pallet configuration information of the pallet 43 to be inserted into the slot 445 of the silo 44 transported by the AGV5. Then, the component vault 3 performs the pallet removal operation and the pallet loading operation according to the pallet configuration information and waits for the arrival of the AGV5. That is, as described above, the preparation of the silo 44 indicated by the silo configuration information is completed by the component vault 3 performing the pallet removal operation, the pallet loading operation, and the pallet insertion operation. Among these, the pallet removal operation and the pallet loading operation are performed before the arrival of the AGV5.

[0097] Furthermore, the computer 2 notifies the AGV 5 of the bin transport instruction Cc at the transport start timing Tc, and the AGV 5 starts moving to the component storage warehouse 3 according to the received bin transport instruction Cc. Then, after the AGV 5 arrives at the component storage warehouse 3, at the handover timing Td, the component storage warehouse 3 performs a pallet insertion operation on the bin 44 transported by the AGV 5. In this way, the bin 44 indicated by the bin configuration information is prepared by the component storage warehouse 3.

[0098] The prepared magazine 44 is transported by the AGV 5 to the component mounting machine 6, and at the replenishment timing Ts, the pallet 43 is inserted from the magazine 44c held by the AGV 5 into the magazine 44u in the component mounting machine 6 (component replenishment). Then, the AGV 5 sends a component replenishment completion notification to the computer 2.

[0099] It should be noted that the computer 2 calculates the preparation start timing Tp and the transport start timing Tc based on the supplementary timing Ts in a manner of replenishing components at the supplementary timing Ts. Specifically, the computer 2 stores the time required for the AGV5 to move, and the time required for the component storage warehouse 3 to perform each operation of the pallet removal operation, the pallet loading operation, and the pallet insertion operation as the standard operation time in the storage unit 392 in advance. Then, by subtracting the standard operation time set for each operation from the supplementary timing Ts, the transport start timing Tc and the supplementary timing Ts are calculated. At this time, the transport start timing Tc or the supplementary timing Ts can also be calculated by subtracting the predetermined surplus time and the standard operation time from the supplementary timing Ts.

[0100] In addition, as described above, the silo preparation instruction Cp includes silo configuration information indicating the configuration of the silo 44 to be prepared. The silo configuration information can be created by the computer 2 as follows.

[0101] Fig.111 is a flowchart showing an example of a method for preparing silo composition information. The flowchart of this figure is executed by the computing unit 21 of the computer 2. In step S101, the components 41 used in the production of the substrate on which the components have been mounted and the number of the components 41 are determined based on the production plan P and the substrate data D. In step S102, the above-mentioned component surplus simulation is performed, and in step S103, a component replenishment plan is prepared.

[0102] In step S104, the components to be replenished at each replenishment timing Ts indicated by the component replenishment plan are listed. Then, in step S105, the number of the slot 445 into which each component 41 is inserted is set so that the component with the earlier use order is kept in the slot 445 at a higher position of the hopper 44. It should be noted that, due to the setting of the number of the slot 445, the component 41 may be inserted into a slot 445 different from the slot 445 of the insertion destination of the component 41 indicated by the substrate data D referred to in step S101. Therefore, the substrate data D is updated according to the setting of the number of the slot 445 in step S105 (step S106).

[0103] In the above-described embodiment, the bin preparation instruction Cp indicating the component 41 to be held in the slot 445 of the bin 44 is notified to the component storage warehouse 3 storing the pallet 42 in the pallet storage rack 32 (pallet storage unit). In contrast, the component storage warehouse 3 is provided with a work robot 36 (work execution unit) that performs predetermined work including a pallet removal work, a pallet placement work, and a pallet insertion work, and the bin 44 that holds the component 41 indicated by the bin preparation instruction Cp in the slot 445 is prepared by the work robot 36. In this way, the bin 44 that is to be inserted into the slot 445 with the pallet 43 of the tray 42 storing the component 41 placed thereon can be automatically prepared, and labor saving in component replenishment can be achieved.

[0104] Furthermore, the computer 2 (control device) calculates the replenishment timing Ts for replenishing the component 41 to the component mounting machine 6 based on the production plan P for producing a component-mounted substrate by mounting the component 41 on the substrate using the component mounting machine 6. Furthermore, the computer 2 notifies the component storage warehouse 3 of the hopper preparation instruction Cp indicating that the preparation of the hopper 44 for holding the component 41 to be replenished in the slot 445 at the replenishment timing Ts is performed according to the replenishment timing Ts. In the above-described structure, the hopper 44 for inserting the pallet 43 on which the tray 42 for storing the component 41 is placed into the slot 445 can be prepared according to the replenishment timing Ts of the component 41 to the component mounting machine 6.

[0105] Furthermore, the computer 2 notifies the component storage 3 of the bin preparation instruction Cp that requires the start of the operation (tray removal operation, tray placement operation) for preparing the bin 44 for holding the component 41 to be replenished in the slot 445 before the replenishment timing Ts (i.e., notifies the bin preparation instruction Cp at the preparation start timing Tp). Furthermore, the working robot 36 starts the operation (tray removal operation, tray placement operation) for preparing the bin 44 for holding the component 41 indicated by the bin preparation instruction Cp in the slot 445 before the replenishment timing Ts. In the above structure, the pallet 43 carrying the tray 42 storing the component 41 can be quickly prepared to be inserted into the bin 44 for the slot 445 according to the replenishment timing Ts of the component 41 to the component mounting machine 6.

[0106] The computer 2 calculates the supplementary timing Ts based on the result of executing a simulation for predicting the temporal change of the remaining quantity of the components 41 in the component mounting machine 6 that mounts the components 41 on the substrate according to the production plan P. In the above configuration, the magazine 44 for inserting the pallet 43 on which the tray 42 for storing the components 41 is placed into the slot 445 can be prepared at an appropriate timing in accordance with the temporal change of the remaining quantity of the components in the component mounting machine 6.

[0107] Furthermore, a bin ID 44d for identifying the bin 44 is attached to the bin 44, and the computer 2 associates the bin ID 44d of the bin 44 to which the bin preparation instruction Cp is to be sent with the bin preparation instruction Cp, and notifies the component storage 3. On the other hand, the component storage 3 has an ID reader 371 (bin ID reader) for reading the bin ID 44d of the transported bin 44, and the working robot 36 holds the component 41 in the slot 445 of the bin 44 to which the bin ID 44d is attached, according to the bin preparation instruction Cp corresponding to the bin ID 44d read by the ID reader 371. In the above structure, it is possible to hold the appropriate component 41 in the slot 445 of the bin 44 to which the bin ID 44d is attached, based on the bin ID 44d read by the ID reader 371.

[0108] Furthermore, a component ID 41d for identifying the component 41 placed on the tray 42 is attached to the tray 42. In contrast, the magazine preparation instruction Cp indicates the component ID 41d of the component 41 held in the slot 445 of the magazine 44 by establishing a correspondence with the slot 445 (pallet configuration information). Furthermore, the working robot 36 holds the component 41 of the component ID 41d in the slot 445 according to the correspondence between the slot 445 indicated by the magazine preparation instruction Cp and the component ID 41d. In the above structure, the component 41 of the component ID 41d corresponding to the slot 445 can be appropriately held.

[0109] Furthermore, the component storage warehouse 3 has a pallet storage rack 33 (pallet storage unit) for storing pallets 43. Furthermore, the working robot 36 prepares a bin 44 for holding the component 41 indicated by the bin preparation indication Cp in the pallet 42 stored in the pallet storage rack 32 by placing the pallet 42 storing the component 41 indicated by the bin preparation indication Cp on one of the pallets 43 stored in the pallet storage rack 33, and then inserting the one pallet 43 into the slot 445. In this way, the bin 44 can be prepared as described above by inserting the pallet 43 on which the pallet 42 storing the component 41 is placed into the empty slot 445.

[0110] Thus, in the above-mentioned embodiment, the computer 2 is equivalent to an example of the “control device” of the present invention, the component storage warehouse 3 is equivalent to an example of the “component storage warehouse” of the present invention, the computer 2 and the component storage warehouse 3 cooperate to function as an example of the “component storage system” of the present invention, the pallet storage rack 32 is equivalent to an example of the “pallet storage unit” of the present invention, the pallet storage rack 33 is equivalent to an example of the “pallet storage unit” of the present invention, the operation robot 36 is equivalent to an example of the “operation execution unit” of the present invention, the ID reader 371 is equivalent to an example of the “silo ID reader” of the present invention, the component 41 is equivalent to an example of the “component” of the present invention, and the pallet 42 is equivalent to an example of a “pallet” of the present invention, pallet 43 is equivalent to an example of a “pallet” of the present invention, silo 44 is equivalent to an example of a “silo” of the present invention, slot 445 is equivalent to an example of a “slot” of the present invention, AGV5 is equivalent to an example of an “unmanned guided vehicle” of the present invention, silo preparation indication Cp is equivalent to an example of a “silo preparation indication” of the present invention, production plan P is equivalent to an example of a “production plan” of the present invention, supplementary timing Ts is equivalent to an example of a “supplementary timing” of the present invention, component ID41d is equivalent to an example of a “component ID” of the present invention, and silo ID44d is equivalent to an example of a “silo ID” of the present invention.

[0111] It should be noted that the present invention is not limited to the above-mentioned embodiment, and various changes can be made to the above-mentioned structure as long as it does not deviate from the purpose. For example, in the above-mentioned embodiment, the bin 44 transported by the AGV5 is transferred to the outbound section 34 in the housing 35, and the working robot 36 performs the pallet insertion operation on the bin 44 on the outbound section 34. However, it is not necessary to set the outbound section 34 in the component storage warehouse 3 as shown below.

[0112] Fig. 12A is a top view schematically showing the internal structure of a first modified example of a component storage warehouse, Fig. 12B It is schematically shown Fig. 12AA side view of the internal structure of the component storage warehouse. Here, the description will be centered on the parts that are different from the above, and the common parts are marked with corresponding reference numerals and the description is appropriately omitted. This processing is also the same for the modified examples shown below.

[0113] The shell 35 of the component storage warehouse 3 of this modified example has a rectangular outgoing window 353 that conforms to the shape of the silo 44, and the outgoing window 353 is opened and closed by a door that is omitted from the figure. The silo 44 transported to the component storage warehouse 3 by the AGV5 contacts the shell 35 of the component storage warehouse 3 from the outside and is opposite to the inside of the shell 35 via the outgoing window 353. At this time, the periphery of the opening 442 of the shell 441 of the silo 44 contacts the periphery of the outgoing window 353 of the shell 35 of the component storage warehouse 3. At this time, the shell 35 of the component storage warehouse 3 and the shell 441 of the silo 44 can also be made to fit tightly by sealing components such as rubber provided on the periphery of the outgoing window 353 in the shell 35. In addition, the working robot 36 performs the pallet insertion operation on the silo 44 supported by the AGV5 on the outside of the shell 35.

[0114] In the above-described modification, since it is not necessary to provide the outgoing warehouse 34, the component storage warehouse 3 can be downsized. Furthermore, since it is not necessary to transfer the silo 44 between the AGV 5 and the outgoing warehouse 34, the operation time can be shortened.

[0115] Fig.13 3 is a top view schematically showing the internal structure of the second modified example of the component storage warehouse. The housing 35 of the component storage warehouse 3 of this modified example is divided into a storage section 354 and an intermediate operation section 355. The pallet storage rack 32 is arranged in the storage section 354. In the pallet storage rack 32, the pallet 42 storing the component 41 is stored in a state of being placed on the pallet 43, and the storage section 354 allows the pallet 43 carrying the pallet 42 to be taken out of the storage toward the intermediate operation section 355. The working robot 36 is arranged in the intermediate operation section 355, and the working robot 36 inserts the pallet 43 taken out of the storage section 354 into the slot 445 of the bin 44 supported by the AGV 5.

[0116] Fig.14A is a top view schematically showing the internal structure of a third modified example of a component storage warehouse, Fig. 14B It is schematically shown Fig.14A The component storage warehouse 3 of this modification can store a bin 44 in a housing 35, and the bin 44 can be moved in the housing 35 by a transport device 37 composed of a crane or the like. In the component storage warehouse 3, a bin 44 corresponding to a bin preparation instruction Cp is prepared as follows.

[0117] When the component storage warehouse 3 receives the bin preparation instruction Cp, the bin 44 in the housing 35 is loaded onto the outbound unit 34 by the transport device 37, and the bin ID 44d of the bin 44 is read by the ID reader 371. Furthermore, the component 41 is held in the slot 445 of the bin 44 by performing the tray removal operation, tray loading operation, and pallet insertion operation in the same manner as described above according to the bin preparation instruction Cp. Furthermore, the control unit 391 of the component storage warehouse 3 notifies the computer 2 of the correspondence between the bin ID 44d of the bin 44 and the component ID 41d held in the slot 445 of the bin ID 44d through the communication unit 393. It should be noted that the component ID 41d can be confirmed by referring to the storage information Is.

[0118] When the AGV 5 arrives at the component storage warehouse 3, the transport device 37 of the component storage warehouse 3 recovers the bin 44 supported by the AGV 5 into the housing 35. Then, the transport device 37 places the bin 44 prepared in the outgoing storage unit 34 on the AGV 5. Then, the AGV 5 transports the bin 44 to the transport destination such as the component mounting machine 6.

[0119] In this way, the silo 44 indicated by the silo preparation indication Cp is prepared by holding the component 41 in the slot 445 of the silo 44 stored in the component storage warehouse 3. Therefore, the AGV5 does not need to transport the silo 44 to the component storage warehouse 3. In addition, the correspondence between the silo ID 44d of the silo 44 and the component ID 41d held in the slot 445 of the silo 44 is notified to the computer 2. Thus, the computer 2 can accurately confirm the component 41 held in the slot 445 of the silo 44 based on the correspondence between the silo ID 44d and the component ID 41d. Therefore, the computer 2 can perform the following control: based on the correspondence between the component mounting machine 6 to which the component 41 held in the prepared silo 44 should be replenished and the silo 44, the AGV5 transports the silo 44 to the corresponding component mounting machine 6, and replenishes the component 41 held in the silo 44 to the component mounting machine 6.

[0120] Furthermore, in the above-described embodiment, the working robot 36 prepares the bin 44 indicated by the bin preparation indication Cp by placing the pallet 42 on the pallet 43 stored in the pallet storage rack 33 and inserting the pallet 43 into the slot 445 of the bin 44. However, the working robot 36 may prepare the bin 44 indicated by the bin preparation indication Cp by placing the pallet 42 taken out of the pallet storage rack 32 on the pallet 43 inserted into the slot 445 of the bin 44 transported.

[0121] In this case, the bin preparation instruction Cp indicates that the component ID 41d of the component 41 held in the slot 445 of the bin 44 is associated with the pallet ID 43d of the pallet 43 inserted into the slot 445. The control unit 391 of the component storage warehouse 3 that receives the bin preparation instruction Cp pulls out the pallet 43 from the slot 445 of the bin 44 transported by the working robot 36 and reads the pallet ID 43d of the pallet 43 by the ID reader 371.

[0122] Then, the control unit 391 confirms the component ID 41d corresponding to the pallet ID 43d read by the ID reader 371 based on the hopper preparation instruction Cp, and uses the working robot 36 to take out the tray 42 storing the component 41 of the component ID 41d from the tray storage rack 32. The pallet 42 thus taken out is placed by the working robot 36 on the pallet 43 pulled out from the slot 445 of the hopper 44. Then, the pallet 43 is pushed back into the slot 445 by the working robot 36.

[0123] Furthermore, in the above-mentioned embodiment, the AGV 5 carries the bin 44. The carrying of the bin 44 by the AGV 5 is performed based on the control of the computer 2 in order to supply the components 41 held in the bin 44 prepared by the component storage 3 to the component mounting machine 6. Therefore, it is preferable to synchronize the actions of the computer 2, the component storage 3, and the AGV 5. Therefore, it is also possible to configure the sharing of the status and confirmation of each other's actions as follows.

[0124] Fig.15 This is a diagram showing an example of a method for sharing states for synchronization of the actions of computers, component vaults, and AGVs. In this example, integers from "-1" to "8" are used to identify states, and the actions represented by each state are shown in "Meaning." Furthermore, when the sending side device (computer 2, component vault 3, and AGV5) shown in the "Write" column writes the state number to a file, the file is transferred to the receiving side device (computer 2, component vault 3, and AGV5) shown in the "Read" column, and the receiving side device reads the state written in the file. Then, the receiving side device performs the action corresponding to the state. In this way, the actions of the computer 2, component vault 3, and AGV5 can be synchronized.

[0125] It should be noted that the transport of the bin 44 can also be performed by the operator without relying on the AGV 5. In this case, the computer 2 notifies the operator of the bin ID 44d of the bin 44 to be transported to the component storage warehouse 3 and the component mounting machine 6 through the UI 23. The operator confirms the bin ID 44d through the ID reader and confirms the transport destination through the UI 23, and transports the corresponding bin 44 to the component storage warehouse 3 and the component mounting machine 6.

[0126] Alternatively, the operator can confirm the remaining amount of the components 41 in the component mounting machine 6 through the UI 23 and judge the components 41 to be supplied to the bin 44 of the component mounting machine 6. In this case, the bin preparation instruction Cp is prepared based on the operator's input operation to the UI 23. Thus, the operator can make the component storage 3 prepare the bin 44 that holds the components 41 judged to need to be supplied in the slot 445.

[0127] Furthermore, in the above-mentioned embodiment, the components 41 are replenished by inserting the pallet 43 from the bin 44c held by the AGV5 into the bin 44u in the component mounting machine 6 using the pallet push-out tool 45. However, the components 41 may be replenished to the AGV5 by exchanging the bin 44c held by the AGV5 and the bin 44u in the component mounting machine 6. The exchange operation of the bin 44 may be performed by the working robot 54 of the AGV5 or by a handling device such as a crane provided in the component mounting machine 6.

[0128] Furthermore, in the above-mentioned embodiment, there is no particular description about the order of taking out the pallets 42 stored in the pallet storage rack 32. However, in the case where a plurality of pallets 42 storing the same type of components 41 are stored, the order of their taking out may vary. For example, the pallets 42 may be taken out from the pallet storage rack 32 in the order of the earliest to the latest period of storage in the pallet storage rack 32 and inserted into the bin 44. In this case, the components 41 stored in the old state are preferentially taken out. Furthermore, in the case of operation for storing second-hand pallets 42, the pallets 42 may be taken out from the pallet storage rack 32 in the order of the remaining amount of components 41 stored in the pallet 42 in the small to large order and inserted into the bin 44. In this case, the pallet 42 storing the least components 41 among the pallets 42 used in the destination component mounting machine 6 which are replenished with the execution of the production plan P may be taken out from the pallet storage rack 32 and inserted into the bin 44. Alternatively, the components may be taken out from the tray storage rack 32 and inserted into the magazine 44 in the order of the component ID 41 d assigned at the time of storage.

[0129] Furthermore, in the component mounting machine 6, in addition to the components 41 supplied by the tray 42, components supplied by the tape feeder can also be mounted on the substrate. In this case, the tape feeder is replenished with components by assembling a tape reel wound with a tape for storing components to the tape feeder. At this time, when the remaining amount of components in the tape assembled to the tape feeder is below a predetermined threshold, the computer 2 issues a remaining amount warning to inform the AGV 5 or the operator to assemble a new tape reel to the tape feeder for component replenishment.

[0130] Furthermore, the method for setting the supplementary timing Ts is not limited to the above example. Fig. 9In the example, the replenishment timing Ts is set at the center of the replenishable time period Tw, but the replenishment start timing Te can also be set to the replenishment timing Ts. In this way, the component 41 can be replenished quickly. Alternatively, the computer 2 can also set the replenishment timing Ts by avoiding the period when the AGV 5 or the operator performs the conveyance of the tape reel for the tape feeder (in other words, the period when the component replenishment to the tape feeder is notified).

[0131] And, in Fig.10 In the example shown, the component storage warehouse 3 starts the operation immediately after receiving the silo preparation instruction Cp. However, the silo preparation instruction Cp including the operation start time may be sent from the computer 2 to the component storage warehouse 3, and the component storage warehouse 3 may start the operation after the operation start time indicated by the received silo preparation instruction Cp.

[0132] Description of Reference Numerals

[0133] 2…Computer (control device)

[0134] 3…Component storage

[0135] 32…Pallet storage rack (pallet storage unit)

[0136] 33…Pallet storage rack (pallet storage unit)

[0137] 36…Working robot (work execution unit)

[0138] 371…ID reader (silo ID reader)

[0139] 41…Components

[0140] 41d…Component ID

[0141] 42…Pallets

[0142] 43…Pallet

[0143] 44… Silo

[0144] 44d… Silo ID

[0145] 445…Slot

[0146] 5…AGV (Automated Guided Vehicle)

[0147] Cp…Bin preparation instructions

[0148] P…Production Plan

[0149] Ts…Supplementary time

Claims

1. A component storage system comprising: A component storage warehouse having a tray storage unit and a work execution unit, wherein the tray storage unit stores trays storing components, and the work execution unit holds a pallet carrying the tray taken out from the tray storage unit in a slot provided in a silo; and A control device controls the component storage warehouse, The magazine holds the pallet in the slot so as to hold the components stored in the tray placed on the pallet in the slot. The control device notifies the component storage of a bin preparation instruction indicating the component to be held in the slot of the bin, The work execution unit prepares the magazine that holds the component indicated by the magazine preparation instruction in the slot.

2. The component storage system according to claim 1, wherein: The control device calculates a replenishment timing for supplying the components to the component mounting machine based on a production plan for producing a substrate on which components are mounted by mounting the components on the substrate using a component mounting machine, and notifies the component storage warehouse of the following silo preparation instruction, which indicates that preparation of the silo for holding the components to be replenished in the slots at the replenishment timing is performed according to the replenishment timing.

3. The component storage system according to claim 2, wherein: The control device notifies the component storage of the bin preparation instruction that requires starting, before the replenishment timing, an operation of preparing the bin for holding the component to be replenished in the slot at the replenishment timing, The work execution unit starts a work for preparing the magazine for holding the component indicated by the magazine preparation instruction in the slot before the replenishment timing.

4. The component storage system according to claim 2 or 3, wherein: The control device calculates the compensation timing based on an execution result of a simulation for predicting a temporal change in the remaining quantity of the components in the component mounting machine that mounts the components on the substrate according to the production plan.

5. The component storage system according to any one of claims 1 to 3, wherein: A silo ID for identifying the silo is attached to the silo. The control device associates the bin ID of the bin that is the target of the bin preparation instruction with the bin preparation instruction and notifies the component storage. The component storage warehouse has a bin ID reader for reading the bin ID of the bin transported. The work execution unit holds the component in the slot of the magazine to which the magazine ID is assigned, in accordance with the magazine preparation instruction corresponding to the magazine ID read by the magazine ID reader.

6. The component storage system according to claim 5, wherein: A component ID for identifying the components placed on the tray is attached to the tray. The silo preparation instruction indicates that the component ID of the component to be held in the slot of the silo is associated with the slot. The work execution unit holds the component having the component ID in the slot based on the correspondence relationship between the slot indicated by the magazine preparation instruction and the component ID.

7. The component storage system according to any one of claims 1 to 3, wherein: A silo ID for identifying the silo is attached to the silo. A component ID for identifying the components placed on the tray is attached to the tray. The component storage warehouse stores the silo, and through the operation execution unit, the component indicated by the silo preparation indication is maintained in the slot of the silo stored in the component storage warehouse, and the correspondence between the silo ID of the silo and the component ID maintained in the slot of the silo is notified to the control device.

8. The component storage system according to any one of claims 1 to 3, wherein: The component storage warehouse further comprises a pallet storage section for storing the pallet. After the operation execution unit places the tray containing the component indicated by the silo preparation indication among the trays stored in the tray storage unit on one of the pallets stored in the pallet storage unit, the operation execution unit inserts the one pallet into the slot, thereby preparing the silo that holds the component indicated by the silo preparation indication in the slot.

9. The component storage system according to any one of claims 1 to 3, wherein: A pallet ID for identifying the pallet is attached to the pallet. The component storage warehouse has a pallet ID reader for reading the pallet ID. The silo preparation instruction indicates that the component to be held in the slot of the silo is associated with the pallet ID of the pallet inserted into the slot. The component storage warehouse uses the pallet ID reader to read the pallet ID of the pallet inserted into the transported silo, and places the tray containing the components corresponding to the pallet ID through the silo preparation instruction on the pallet, thereby preparing the silo to hold the component indicated by the silo preparation instruction in the slot.

10. The component storage system according to any one of claims 1 to 3, wherein: The control device causes the unmanned guided vehicle to transport the silo prepared according to the silo preparation instruction to a transport destination.

11. The component storage system according to any one of claims 1 to 3, wherein: The control device notifies the operator to transport the silo prepared according to the silo preparation instruction to a transport destination.

12. A component storage warehouse, comprising: A tray storage unit for storing trays containing components; and The operation execution unit holds the pallet carrying the pallet taken out from the pallet storage unit in a slot provided in the silo, The magazine holds the pallet in the slot so as to hold the components stored in the tray placed on the pallet in the slot. The work execution unit prepares the magazine for holding the component indicated by a magazine preparation instruction in the slot, the magazine preparation instruction indicating the component to be held in the slot of the magazine.

13. A silo preparation method comprising the following steps: notifying a silo preparation indication representing a component to be held in a slot of the silo; and In a component storage warehouse having a pallet storage unit and a job execution unit, the job execution unit prepares the silo that holds the component indicated by the silo preparation indication in the slot, the pallet storage unit stores the pallet that accommodates the component, and the job execution unit holds a pallet carrying the pallet taken out from the pallet storage unit in a slot provided in the silo.

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