Production System

Abstract

The production system comprises: a loader that performs a first operation on a predetermined production device; and a control unit that limits the movement of the loader to a predetermined first range when a self-propelled working robot performs a second operation on the predetermined production device, and limits the movement of the loader to a second range that is set wider than the first range when the loader can complete the first operation by moving within the first range while the working robot is performing the second operation.

Description

Technical Field

[0001] The present invention relates to a production system. Background Art

[0002] The production system is applied to a production line for producing substrate products. Patent document 1 discloses a structure in which a loader and a self-propelled working robot perform respective operations on production devices constituting a production line. When an intruding object is detected by an area sensor within the detection range around the loader, the loader stops or is restricted from moving to prevent interference with the intruding object. Therefore, in Patent document 1, when there is an obstacle within the movable range of the loader, a structure is adopted in which operations within a range that does not interfere with the obstacle are preferentially performed.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent document 1: International Publication No. 2017 / 033268. Summary of the invention

[0006] Problems to be solved by the invention

[0007] In a production line using such a loader and a working robot, it is required that each device that assists in the production of substrate products cooperates to improve productivity.

[0008] An object of the present specification is to provide a production system capable of improving the productivity in a production line by appropriately changing a range in which movement of a loader is restricted to improve the operability of the loader.

[0009] Technical solutions to solve problems

[0010] The present specification discloses a production system comprising: a loader, which is arranged in a manner that allows it to move along the conveying direction of a substrate relative to a plurality of production devices constituting a production line of a substrate product, and performs a first operation on a predetermined production device; and a control unit, which limits the movement of the loader to a predetermined first range when a self-propelled working robot performs a second operation on the predetermined production device, and limits the movement of the loader to a second range set wider than the first range when the loader completes the first operation by moving within the first range while the working robot is performing the second operation.

[0011] Effects of the Invention

[0012] According to such a structure, when the self-propelled working robot performs work within the movable range of the loader, the range of movement of the loader is changed in stages. As a result, the range in which the loader can operate within the movable range of the loader is expanded, thereby improving the operability of the loader. As a result, the productivity in the production line can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing the production system in the embodiment.

[0014] Figure 2 Yes means Figure 1 A block diagram of the functions of the production system.

[0015] Figure 3 Yes means Figure 1 A schematic perspective view of the structure of a loader and a component mounting machine.

[0016] Figure 4 This is a top view schematically showing the structure and ranges of the production system.

[0017] Figure 5 This is a flowchart showing the movement control process of the loader. DETAILED DESCRIPTION

[0018] 1. Overview of production system 1

[0019] Hereinafter, an embodiment of the production system 1 will be described with reference to the accompanying drawings. The production system 1 is applied to a production line Ln for producing substrate products. Figure 1 As shown, the production system 1 includes a production line Ln, a loader 30, and a management device 70. The management device 70 is configured to be able to communicate with a plurality of production devices constituting the production line Ln, the loader 30, and a self-propelled working robot 60 described later via a network.

[0020] 2. Structure of production line Ln

[0021] Production line Ln passes through substrate 91 (refer to Figure 3 ) is arranged in a plurality of production devices in the conveying direction. Figure 1 and Figure 4 As shown, the plurality of production devices include: a plurality of component mounting machines 10 for mounting components on a substrate 91; and a buffer device 20 for holding feeders 41 used in supplying components to the component mounting machines 10 in the production line Ln. The buffer device 20 is used for storing the cassette-type feeders 41.

[0022] The buffer device 20 is arranged in the conveying direction of the substrate 91 ( Figure 1 and Figure 4The left and right directions) are arranged on the upstream side ( Figure 1 and Figure 4 On the left side of the production line Ln, for example, a screen printer, an inspection machine, a reflow oven, etc. may be included as production devices. In the production line Ln, a loader 30 is applied as a working device for performing predetermined operations on a plurality of component mounting machines 10 and buffer devices 20. The detailed structure of the loader 30 will be described later.

[0023] 3. Structure of component mounting machine 10

[0024] like Figure 3 As shown in FIG. 1 , a plurality of component mounting machines 10 constituting the production line Ln are provided with a substrate conveying device 11, a component supplying device 12, and a head driving device 15. In the following description, the horizontal width direction of the component mounting machine 10, i.e., the conveying direction of the substrate 91, is defined as the X direction, the horizontal depth direction of the component mounting machine 10 is defined as the Y direction, and the vertical direction ( Figure 3 The up and down direction) is set to the Z direction.

[0025] The substrate conveying device 11 is composed of a belt conveyor and a positioning device, etc. The substrate conveying device 11 sequentially conveys the substrate 91 in the conveying direction and positions the substrate 91 at a predetermined position in the machine. After the mounting process of the component mounting machine 10 is completed, the substrate conveying device 11 carries the substrate 91 out of the component mounting machine 10.

[0026] The component supply device 12 supplies components to be mounted on the substrate 91. The component supply device 12 has an upper tank 13 and a lower tank 14 that can be equipped with a feeder 41. The upper tank 13 is arranged at the upper part of the front side of the component mounting machine 10, and holds the equipped feeder 41 in an operable manner. That is, the feeder 41 equipped in the upper tank 13 is controlled to operate during the mounting process of the component mounting machine 10, and the components are supplied at the take-out portion at a predetermined position provided on the upper part of the feeder 41.

[0027] The lower tank 14 is arranged below the upper tank 13 and stores the equipped feeders 41. That is, the lower tank 14 holds the feeders 41 used for production in preparation or temporarily holds the feeders 41 that have been used for production. In addition, the feeders 41 are replaced between the upper tank 13 and the lower tank 14 by automatic replacement by the loader 30 described later or manual replacement by the operator.

[0028] When the feeder 41 is equipped in the upper slot 13 or the lower slot 14 of the component supply device 12, power is supplied from the component mounting machine 10 via the connector. And the feeder 41 becomes in a state where it can communicate with the component mounting machine 10. The feeder 41 equipped in the upper slot 13 controls the feeding action of the carrier tape that accommodates the components based on the control command issued by the component mounting machine 10. Thus, the feeder 41 supplies the components in a manner that can be picked up by the holding member of the mounting head 17 described later at the take-out portion provided at the top of the feeder 41.

[0029] The head driving device 15 transfers the components supplied by the component supply device 12 to a predetermined mounting position on the substrate 91 carried into the machine by the substrate conveying device 11. The head driving device 15 moves the moving table 16 in the horizontal direction (X direction and Y direction) through a direct-acting mechanism. The mounting head 17 is fixed to the moving table 16 in a replaceable manner by a clamping member not shown. The mounting head 17 picks up the component and adjusts the vertical position and angle of the component to mount the component on the substrate 91.

[0030] In detail, a holding member for holding the component supplied by the feeder 41 is installed in the mounting head 17. The holding member may be, for example, a suction nozzle for holding the component by supplying negative pressure air, a chuck for holding the component by gripping it, or the like. The mounting head 17 holds the holding member in a manner that allows it to move in the Z direction and to rotate around the θ axis parallel to the Z axis. The mounting head 17 moves in the XY direction by the direct motion mechanism of the head driving device 15.

[0031] The component mounting machine 10 having the above-described structure performs a mounting process of mounting components on the substrate 91. During the mounting process, the component mounting machine 10 sends a control signal to the head driving device 15 based on the results of image processing, the detection results of various sensors, a pre-stored control program, etc. Thus, the positions and angles of the plurality of suction nozzles supported by the mounting head 17 are controlled.

[0032] In addition, the suction nozzle held in the mounting head 17 is appropriately changed according to the type of the component to be mounted on the substrate 91 during the mounting process. When the suction nozzle used in the mounting process performed by the component mounting machine 10 is not held in the mounting head 17, the mounting head 17 is held by the suction nozzle stored in the suction nozzle station not shown in the figure. The above-mentioned suction nozzle station is equipped at a predetermined position in the component mounting machine 10 in a detachable manner.

[0033] 4. Structure of the buffer device 20

[0034] In this embodiment, the buffer device 20 includes a first storage unit 21 and a second storage unit 22. A hopper 40 for a feeder 41 is detachably placed in the first storage unit 21 and the second storage unit 22. The hopper 40 has a plurality of slots, and is configured to hold the feeder 41 in each slot. In this way, the buffer device 20 holds the feeder 41 using the placed hopper 40.

[0035] The first storage unit 21 and the second storage unit 22 are arranged in sequence from the upstream side in the conveying direction of the substrate 91. In the present embodiment, the first storage unit 21 and the second storage unit 22 are each configured to be able to hold one bin 40. The feeder 41 equipped to the bin 40 placed in the buffer device 20 is in a state where communication can be performed between the control device of the buffer device 20 and the management device 70. Thus, the slot of the buffer device 20 is associated with the identification code (ID) of the feeder 41 equipped to the slot, and is recorded in the management device 70.

[0036] 5. Structure of loader 30

[0037] The loader 30 is provided in a manner that allows it to move relative to a plurality of production devices (component mounting machines 10, buffer devices 20) along the conveying direction of the substrate 91. The loader 30 performs a first operation on a predetermined production device (component mounting machine 10, buffer device 20). The above-mentioned "first operation" includes an operation of replacing a replacement element that is detachably equipped on a substrate operation machine such as a component mounting machine 10 with a substrate operation machine. In the present embodiment, as the above-mentioned first operation, the loader 30 replaces the feeder 41 between a plurality of component mounting machines 10 and the buffer device 20.

[0038] The loader 30 is moved along a rail 51 (see FIG. 1 ) provided at the front of the plurality of component mounting machines 10 and the buffer device 20. Figure 1 and Figure 4 The track 51 extends over substantially the entire area in the conveying direction of the substrate 91 in the production line Ln. The loader 30 is supplied with power in a non-contact manner from an opposing production device via the track 51 according to the position of the loader 30.

[0039] The loader 30 has a main body 31. The main body 31 is provided so as to be able to travel along a travel path formed by a track 51. Specifically, the main body 31 has travel rollers and guide rollers that are engaged with the track 51 in a rolling manner. Thus, the main body 31 is maintained in a posture and is able to move in the X direction while the movement in the Y direction and the Z direction is restricted. In addition, a feeder holding portion 32 capable of holding a plurality of feeders 41 is provided in the main body 31. The feeder holding portion 32 holds the plurality of feeders 41 in a state of being arranged in the X direction.

[0040] The loader 30 has a loader moving device 33. The loader moving device 33 is driven by electric power supplied from the outside to move the main body 31. In addition, when the main body 31 is equipped with a battery, the loader moving device 33 can also be driven by the electric power supplied from the battery. In addition, the loader moving device 33 is combined with the track 51, for example, to form a linear motor. At this time, the loader moving device 33 generates a propulsion force in the X direction between the moving coil (not shown) and the track 51 by supplying power to the moving coil, thereby moving the loader 30 in the X direction.

[0041] The loader 30 has a feeder replacement device 34. The feeder replacement device 34 replaces the feeder 41 between the loader 30 and the plurality of component mounting machines 10 constituting the production line Ln, and between the feeder replacement device 34 and the buffer device 20. The replacement of the feeder 41 by the feeder replacement device 34 includes at least one of the recovery and replenishment of the feeder 41. In the present embodiment, the feeder replacement device 34 transports the feeder 41 from the buffer device 20 to the upper slot 13 or the lower slot 14 of the component mounting machine 10.

[0042] In addition, the feeder replacement device 34 replaces the feeder 41 between the upper slot 13 and the lower slot 14 of the component mounting machine 10. Moreover, the feeder replacement device 34 transports the used feeder 41 from the component mounting machine 10 to the buffer device 20. The feeder replacement device 34 is configured to be able to move the feeder 41 relative to the main body 31 in the detachment direction of the feeder 41 (in the Y direction in this embodiment) and the up-down direction (Z direction).

[0043] The loader 30 has a first sensor 35 and a second sensor 36. The first sensor 35 and the second sensor 36 detect the presence of an intruding object (including an operator) intruding into a detection range Rs around the loader 30, and send a signal based on the detection to the loader control device 37. The first sensor 35 and the second sensor 36 detect the intruding object using infrared rays, ultrasonic waves, etc.

[0044] like Figure 4 As shown, the first sensor 35 is provided on one side of the main body 31 in the Y direction (the upstream side in the conveying direction of the substrate 91), and detects the presence of an intruding object intruding into the upstream range Ru which is a part of the detection range Rs. The second sensor 36 is provided on the other side of the main body 31 in the Y direction (the downstream side in the conveying direction of the substrate 91), and detects the presence of an intruding object intruding into the downstream range Rd which is a part of the detection range Rs.

[0045] The loader 30 has a loader control device 37. The loader control device 37 is a controller mainly composed of a CPU, various memories, and a control circuit. The loader control device 37 is connected to a plurality of component mounting machines 10, a buffer device 20, and a management device 70 in a communicable manner. The loader control device 37 controls the operation of the loader moving device 33, the feeder replacement device 34, and the like.

[0046] The loader control device 37 is equipped with a detection unit 38. In the present embodiment, the detection unit 38 detects an intruding object that intrudes into the detection range Rs around the loader 30 based on the signals sent by the first sensor 35 and the second sensor 36. The detection unit 38 can identify whether the detected intruding object is present on the upstream side or the downstream side of the conveying direction of the substrate 91 by using the signals of the first sensor 35 and the second sensor 36. In addition, the detection unit 38 can also identify the distance between the loader 30 and the intruding object based on the strength of the signal.

[0047] When the detection unit 38 detects an intruding object, the loader control device 37 quickly stops the loader 30 if it is moving. In addition, the loader control device 37 maintains the stopped state of the loader 30 during the detection of the intruding object by the detection unit 38. At this time, when it is possible to identify whether the intruding object is present on the upstream side or the downstream side in the conveying direction of the substrate 91 as in the present embodiment, the loader 30 may be moved to the side opposite to the intruding object.

[0048] In addition, the loader control device 37 detects the current position of the main body 31 on the travel path based on the detection signal of the position detection sensor (not shown). Specifically, the above-mentioned position detection sensor is arranged opposite to the linear scale provided on the track 51, and detects the scale of the linear scale. In addition, in the position detection sensor, the position detection of the main body 31 can be applied to the optical detection method or the detection method using electromagnetic induction.

[0049] As described above, the loader 30 is configured to be movable to a predetermined position along the rail 51, and to be able to replace the feeder 41 at the stop position. Here, the movable range Nm of the loader 30 is set to, for example, a range that is substantially consistent with the entire length of the rail 51 and contacts the stoppers at both ends of the moving direction. In addition, the movable range Nm of the loader 30 may be appropriately set to avoid interference between the loader 30 and other components provided in the production line Ln, or to a necessary maximum range according to the purpose.

[0050] In addition, the loader control device 37 follows the instructions issued by the upper management device 70 for the action processing when the above-mentioned intrusion object is detected and the movement restriction within the movable range Nm. In addition to the case where the instructions of the management device 70 are sent according to the action status of the loader 30, for example, there is also a case where the loader 30 stores the content preset at the start of operation for the action processing corresponding to the presence or absence of the intrusion object. In addition, the loader control device 37 sequentially executes the first operation requested from the outside, and notifies the management device 70 of the current operation position and progress of the operation content of the first operation being executed. As a result, the management device 70 updates the first operation information M1 including this information.

[0051] 6. Structure of the Management Device 70

[0052] The management device 70 monitors the operation status of the production line Ln and controls the production devices including the component mounting machine 10, the buffer device 20, and the loader 30. Figure 2 As shown, the management device 70 has a storage unit 71. Various data for controlling a plurality of production devices are stored in the storage unit 71. When the management device 70 performs the mounting process of the component mounting machine 10, the management of the feeder 41 by the buffer device 20, and the replacement process of the loader 30, it appropriately sends instructions corresponding to various data and conditions.

[0053] The management device 70 has a control unit 72. When the self-propelled working robot 60 intrudes into the movable range Nm of the loader 30 in the production line Ln to perform a predetermined operation (hereinafter referred to as "second operation"), the control unit 72 controls the movement of the loader 30 and the working robot 60 to prevent interference between the loader 30 and the working robot 60. The working robot 60 performs the second operation on any one of the plurality of production devices (component mounting machine 10, buffer device 20) constituting the production line Ln.

[0054] The second operation includes an operation of replacing the feeder 41 between the component mounting machine 10 or the buffer device 20. Furthermore, the second operation includes an operation of replacing the hopper 40 equipped with a plurality of feeders 41 between the buffer device 20 or the component mounting machine 10. Hereinafter, for the sake of simplicity of description, it is assumed that the second operation performed by the working robot 60 is an operation of replenishing the hopper 40 to the first storage section 21 or the second storage section 22 of the buffer device 20 and recovering the hopper 40 from the first storage section 21 or the second storage section 22.

[0055] The working robot 60 that performs the second operation as described above, for example, transports the bin 40, the feeder 41, and the reel on which the carrier tape is wound between the buffer device 20 and a storage warehouse (not shown) storing a large number of feeders 41, and a workbench (not shown) for loading the carrier tape into the feeder 41. In addition, there are multiple types of working robots 60 depending on the content of the second operation performed as described above and the object of transportation. In addition, sometimes a plurality of working robots 60 are applied to the production system 1 in a manner that can perform their respective operations in parallel.

[0056] The control unit 72 limits the movement of the loader 30 to the preset first range N1 when the working robot 60 performs the second operation. In this embodiment, the first range N1 is preset according to each working position or each working content of the second operation so that the working robot 60 is always outside the detection range Rs during the second operation. Specifically, when the working content of the second operation is to replace the silo 40 of the buffer device 20, as shown in FIG. Figure 4 As shown, first, a fixed work area Wf is allocated to the working robot 60 .

[0057] The fixed work area Wf is an area where the work content of the second work is fixed, regardless of the type of the work robot 60 and the detailed work position (for example, the position with the first storage unit 21 as the target, or the position with the second storage unit 22 as the target). In addition, for example, in the case where the work robot 60 replaces the feeder 41 between it and a predetermined component mounting machine 10, the fixed work area Wf is pre-set in position and size according to the position of the component mounting machine 10. In other words, the fixed work area Wf is an area where the work robot 60 does not go out during the execution of the second work.

[0058] Furthermore, the first range N1 is set so that the detection range Rs of the loader 30 does not overlap with the fixed work area Wf. For example, the first range N1 is set to a range obtained by narrowing the movable range Nm in a manner that takes the position of the loader 30 when the fixed work area Wf is in contact with the detection range Rs as one end away from the position of the safety margin. The loader 30 is restricted to move inside the first range N1 based on the command from the control unit 72 of the upper management device 70 at least during the period when the working robot 60 performs the second operation.

[0059] That is, the loader 30 sequentially performs the operations that can be performed by moving inside the first range N1 among the first operations for which there is an execution request. Under such restrictions, there is a case where all the first operations that can be performed by the loader 30 are completed according to the time required for the second operation performed by the working robot 60. In this case, in fact, there is a state where, although there is a first operation that can be performed by the loader 30 without interfering with the working robot 60 outside the first range N1, it cannot be performed due to the above-mentioned movement restriction.

[0060] This is because the fixed working area Wf is set wider than the necessary width in order to cope with various working robots 60 and other matters. Therefore, the control unit 72 adopts a structure that improves the operability of the loader 30 by appropriately changing the range of limiting the movement of the loader 30. Specifically, when the first work that the loader 30 can perform by moving within the first range N1 while the working robot 60 is performing the second work is completed, the control unit 72 limits the movement of the loader 30 to the second range N2 set wider than the first range N1.

[0061] The second range N2 can be set in various ways. In the first range setting method, the second range N2 is set so that the distance T1 between the closest parts when the loader 30 moves toward the working robot 60 performing the second operation is greater than a predetermined distance. That is, the first range N1 is set based on the positional relationship between the fixed working area Wf and the detection range Rs. In contrast, in the first range setting method, the first range N1 is expanded by taking the position of the loader 30 approaching and contacting the working robot 60 as one end, which is away from the position of the safety margin.

[0062] In the second range setting method, the second range N2 is set based on the second operation information M2, which includes at least one of the current operation position of the second operation being performed by the operation robot 60, the progress of the operation content, and the category of the operation robot 60. Furthermore, the second range N2 may be dynamically updated based on the second operation information M2 updated as the second operation progresses while the operation robot 60 is performing the second operation.

[0063] That is, the first range N1 is set using the fixed work area Wf, whereas in the second range setting method, the range is set based on the current work area Wc assigned according to the current state of the current working robot 60. The current work area Wc is assigned based on the type of the working robot 60 and the detailed working position (for example, the position with the first storage unit 21 as the object, or the position with the second storage unit 22 as the object), and becomes a range narrower than the fixed work area Wf. Thus, the second range N2 is set to allow further movement to the working robot 60 side by at least the difference between the fixed work area Wf and the current work area Wc.

[0064] The second range N2 may also be set by other methods described above. For example, the second range N2 may be set by simply reducing the safety margin or fixed working area Wf used when setting the first range N1. In either method, each range is widened in the order of the first range N1, the second range N2, and the movable range Nm, and the movement of the loader 30 is allowed inside the range.

[0065] The control unit 72 allows the movement of the loader 30 within the movable range Nm of the loader 30 wider than the first range N1 when the detection unit 38 of the loader 30 does not detect an intruding object, and restricts the movement of the loader 30 when the detection unit 38 detects an intruding object. In addition, the control unit 72 stops the loader 30 when the detection unit 38 detects an intruding object, maintains the stopped state of the loader 30 while the detection unit 38 detects an intruding object, or allows the loader 30 to move only to the side opposite to the intruding object.

[0066] Here, as described above, the control unit 72 sometimes limits the movement of the loader 30 to the first range N1 or the second range N2. At this time, there is a case where the first range N1 does not include the buffer device 20, that is, there is a case where the first operation cannot be performed on the buffer device 20 by moving inside the first range N1. In this case, as the first operation, the control unit 72 causes the loader 30 to perform a preliminary recovery of holding the feeder 41 scheduled to be recovered from the component mounting machine 10 to the buffer device 20 in the component mounting machine 10 close to the buffer device 20 among the plurality of component mounting machines 10.

[0067] Specifically, the control unit 72 has a request to recover the feeder 41 from the target machine, which is one of the plurality of component mounting machines 10 included in the first range N1, and to move the feeder 41 to the buffer device 20. However, if the first range N1 does not include the buffer device 20, the first operation cannot be performed. Therefore, if there is an empty slot in the upper slot 13 or the lower slot 14 of the component mounting machine 10 included in the first range N1 and on the upstream side of the target machine, the control unit 72 keeps the feeder 41 recovered from the target machine in the empty slot.

[0068] Then, after the movement restriction is released, the loader 30 moves the feeder 41 to the buffer device 20. At this time, the moving distance of the loader 30 is shorter than the moving distance from the target machine to the buffer device 20, so the time required for the recovery operation is shortened. In addition, when there are multiple empty slots in the component mounting machine 10 on the upstream side of the target machine, for example, it is also possible to preferentially select the empty slots of the component mounting machine 10 that is the same as or close to the component mounting machine 10 that is the target of the first operation scheduled to be performed. In this way, the recovery of the feeder 41 can be performed in series with the first operation scheduled to be performed, and the operation efficiency of the loader 30 can be improved.

[0069] 7. Structure of the working robot 60

[0070] The working robot 60 is configured to be able to travel on the floor of the production facility where the production line Ln is installed. The working robot 60 cooperates with the buffer device 20, the storage warehouse of the feeder 41, the workbench for production change adjustment, and the operator to transport the materials such as the silo 40 and the feeder 41. The working robot 60 has a traveling device 61 that travels on the floor while recognizing the position of the robot. The traveling device 61 is provided with a working device 62, which performs a predetermined operation such as delivering an article to a predetermined target object.

[0071] In addition, the working robot 60 has a robot control device 63, which is connected to the external management device 70 in a communicable manner and controls the operation of the travel device 61 and the working device 62. The working robot 60 having the above-mentioned structure sequentially performs the second operation requested from the outside. At this time, the working robot 60 notifies the management device 70 that manages the target production line Ln of the operation notice that the second operation is to be performed, and starts the second operation after receiving the permission of the management device 70.

[0072] In addition, the working robot 60 notifies the management device 70 of the current working position and the progress of the working content during the execution of the second work. Thus, the management device 70 updates the second work information M2 including these information. In this embodiment, as the second work, the working robot 60 replaces the bin capable of holding a plurality of feeders 41 between it and the buffer device 20 or the component mounting machine 10.

[0073] 8. Production system 1 restricts movement of loader 30

[0074] Reference Figure 5The production system 1 will now explain the movement restriction process for the loader 30. The production system 1 includes a control unit 72 assembled to the loader 30 and the management device 70, and in this embodiment, includes a detection unit 38 assembled to the loader 30. The control unit 72 monitors whether there is a notification of a work notice indicating the execution of a second work from the working robot 60 (S11). When there is no notification of a work notice (S11: No), the control unit 72 allows the movement of the loader 30 within the movable range Nm (S22).

[0075] When there is a notification of a work advance from the working robot 60 (S11: Yes), the control unit 72 issues an instruction to the working robot 60 to wait at a predetermined waiting position (S12). The waiting position is set to a position where the working robot 60 is located outside the detection range Rs of the loader 30 regardless of where the loader 30 is located in the movable range Nm in the production line Ln. The control unit 72 issues an instruction to the loader 30 to move inside the preset first range N1 (S13). As a result, the movement of the loader 30 is limited to the inside of the first range N1 until a release instruction is issued.

[0076] The control unit 72 monitors the current position of the loader 30 based on the notification from the loader control device 37 (S14). When the loader 30 has not moved to the inside of the first range N1 (S14: No), the control unit 72 maintains the standby state of the working robot 60. In addition, when the loader 30 has moved to the inside of the first range N1 (S14: Yes), the control unit 72 allows the working robot 60 to perform the second operation (S15).

[0077] Next, the control unit 72 monitors whether the second operation of the working robot 60 is being performed based on the updated second operation information M2 (S16). If the second operation is being performed (S16: Yes), the control unit 72 monitors whether all the first operations that the loader 30 can perform inside the first range N1 are completed (S17). If all the first operations are not completed (S17: No), the control unit 72 continues the above monitoring (S16, S17).

[0078] Here, when the second operation is being performed (S16: Yes) and all the first operations are completed (S17: Yes), the control unit 72 sets the second range N2 (S18). The second range N2 is set by a method selected from various methods as described above. For example, the control unit 72 can obtain the outer dimensions of the working robot 60 based on the type of the working robot 60 notified of the operation notice, and further set the working robot 60 to be in the second range N2 where the second operation is being performed based on the operation position.

[0079] In addition, for example, the second operation of the working robot 60 is to supply the material bin 40 to the second storage unit 22 of the buffer device 20 and to collect the material bin 40 from the first storage unit 21. In this case, the working robot 60 moves upstream from the position facing the second storage unit 22 to the position facing the first storage unit 21 during the execution of the second operation. Therefore, the control unit 72 can dynamically set the second range N2 by recognizing the progress of the second operation based on the second operation information M2.

[0080] After the second range N2 is set and updated as described above, the control unit 72 restricts the loader 30 from moving inside the second range N2 (S19). In other words, the control unit 72 relaxes the restriction by expanding from the first range N1 to the second range N2, and allows the loader 30 to move inside the second range N2.

[0081] Next, when the working robot 60 has finished executing the second operation (S16: No), the control unit 72 monitors whether the working robot 60 is further away from the production line Ln than the above-mentioned standby position (S21). When the working robot 60 is closer to the production line Ln than the standby position (S21: No), the control unit 72 maintains the state of limiting the movement of the loader 30 to the second range N2. When the working robot 60 is further away from the production line Ln than the standby position (S21: Yes), the control unit 72 allows the movement of the loader 30 within the movable range Nm in order to release the movement restriction of the loader 30 (S22).

[0082] According to the above-mentioned structure, when the self-propelled working robot 60 is performing the second operation within the movable range Nm of the loader 30, the range of limiting the movement of the loader 30 is changed in stages (S13, S19). As a result, the range in which the loader 30 can operate within the movable range Nm of the loader 30 is expanded, so the operability of the loader 30 is improved. As a result, the productivity in the production line Ln can be improved.

[0083] 9. Variations of the Implementation Methods

[0084] In the embodiment, the second operation of the working robot 60 is exemplified as replacing the bin 40 or the feeder 41 between the working robot 60 and the buffer device 20. In contrast, the second operation of the working robot 60 may be replenishing or collecting items between the working robot 60 and the predetermined component mounting machine 10. In this case, the first range N1 and the second range N2 are set to the upstream side or the downstream side of the working position of the working robot 60. The control unit 72 may also set the first range N1 and the second range N2 based on the content of the first operation scheduled to be performed by the loader 30 and the working position of the working robot 60.

[0085] In addition, as described above, the replacement elements that are replaced by the loader 30 and the working robot 60 are the bin 40 or the feeder 41. In contrast, the loader 30 and the working robot 60 may also use components other than the feeder 41 as replacement elements. Specifically, for example, a tape reel, a nozzle station, a waste tape collection container, etc. that are equipped in a replaceable manner on the component mounting machine 10 may be a replacement element.

[0086] The feeder has a type in which a reel holder for holding a tape reel is arranged outside. Therefore, by automatically replacing the tape reel of the feeder through the loader 30, the tape reel can be correctly delivered. In addition, the nozzle station needs to hold nozzles corresponding to the types of components used in the production of substrate products. Therefore, by configuring a storage device for the nozzle station in the production line Ln and allowing the nozzle station to be automatically replaced between the storage device and the component mounting machine 10, the production efficiency in the production line Ln can be improved.

[0087] The waste tape recovery container is, for example, a container provided below the upper groove 13 of the component mounting machine 10, and is used to recover waste tapes generated when each feeder 41 supplies components. The waste tape is, for example, a tape obtained by cutting the portion of the carrier tape from which the components have been taken out into an appropriate length. The capacity of the waste tape recovery container is limited. Therefore, from the perspective of maintaining a good production state, it is useful to use the loader 30, for example, to maintain the amount of waste tapes recovered by the waste tape recovery container below a certain level.

[0088] Furthermore, when the feeder 41 is a rod feeder, the loader 30 may also adopt a structure that supplies rods and collects empty rods. Furthermore, when the feeder 41 is a bulk feeder, the loader 30 may also adopt a structure that supplies bulk components or supplies component boxes that accommodate bulk components and collects empty component boxes. In such a structure, automatic replenishment and collection of replacement elements can also be performed, and production efficiency in the production line Ln can be improved.

[0089] Description of Reference Numerals

[0090] 1: Production system, Ln: Production line, 10: Component mounting machine (production device), 20: Buffer device (production device), 30: Loader, 35: First sensor, 36: Second sensor, 38: Detection unit, 40: Bin, 41: Feeder, 60: Working robot, 70: Management device, 71: Storage unit, 72: Control unit, M1: First operation information, M2: Second operation information, 91: Substrate, Rs: Detection range, Nm: Movable range, N1: First range, N2: Second range.

Claims

1. A production system comprising: A loader is provided so as to be movable along a conveying direction of the substrate relative to a plurality of production devices constituting a production line of substrate products, and performs a first operation on a predetermined production device; and A control unit limits the movement of the loader to a pre-set first range when a self-propelled working robot performs a second operation on a predetermined production device, and limits the movement of the loader to a second range set wider than the first range when the loader can complete the first operation by moving within the first range while the working robot is performing the second operation.

2. The production system according to claim 1, wherein: The production system further includes a detection unit that detects an intruding object that intrudes into a detection range around the loader.

3. The production system according to claim 2, wherein: The control unit allows the movement of the loader within a movable range of the loader wider than the first range when the intruding object is not detected by the detection unit, and restricts the movement of the loader when the intruding object is detected.

4. The production system according to claim 2 or 3, wherein: The first range is set in advance for each work position or each work content of the second work so that the working robot is always outside the detection range while performing the second work.

5. The production system according to any one of claims 2 to 4, wherein: The control unit stops the loader when the detection unit detects the intruding object, maintains the loader in a stopped state while the detection unit detects the intruding object, or allows the loader to move only to a side opposite to the intruding object.

6. The production system according to any one of claims 1 to 5, wherein: The second range is set so that a distance between the parts that are closest to each other when the loader moves toward the working robot while the working robot is performing the second work is greater than a predetermined distance.

7. The production system according to any one of claims 1 to 6, wherein: The second range is set based on second work information including at least one of a current work position of the second work being performed by the work robot, a progress of work content, and a category of the work robot.

8. The production system according to claim 7, wherein: While the working robot is executing the second work, the second range is dynamically updated based on the second work information updated as the second work progresses.

9. The production system according to any one of claims 1 to 8, wherein: The plurality of production devices include: a plurality of component mounting machines for mounting components on the substrate and a buffer device for holding feeders used by the component mounting machines in supplying the components in the production line. As the first operation, the loader replaces the feeder between the plurality of component mounting machines and the buffer device.

10. The production system according to claim 9, wherein: The control unit limits the movement of the loader to the first range or the second range, and when the first range does not include the buffer device, causes the loader to perform preliminary recovery as the first operation, wherein the preliminary recovery is an operation of keeping the feeder scheduled to be recovered from the component mounting machine to the buffer device at the component mounting machine close to the buffer device among the multiple component mounting machines.

11. The production system according to claim 9 or 10, wherein: As the second operation, the working robot exchanges a magazine capable of holding a plurality of the feeders with the buffer device or the component mounting machine.

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