Component supply system, arrangement determination method, control method, management device, and supply robot

Abstract

The subject of the present disclosure is to achieve high efficiency with respect to operations with cartridges. The supply robot (4) executes at least one of a collection operation for collecting the first tape cassette from the trolley and a supply operation for supplying the second tape cassette to the trolley. The request transmission unit (71) transmits, to the control device (6), a request for causing the control device (6) to transmit an answer including the configuration information. The arrangement information is information on the arrangement position of at least one of the first tape cartridge and the second tape cartridge in the supply robot (4). The work instruction unit (72) transmits, to the control device (6), a work instruction for causing the supply robot (4) to execute the work on the basis of the arrangement information. A request response unit (61) transmits an answer to the management device (7) in response to the request transmitted from the request transmission unit (71). The supply robot control unit (62) causes the supply robot (4) to execute work on the basis of the work instruction transmitted from the work instruction unit (72).

Description

Technical Field

[0001] The present disclosure generally relates to a component supply system, a configuration determination method, a control method, a management device, and a supply robot. More specifically, the present disclosure relates to a component supply system, a configuration determination method, a control method, a management device, and a supply robot for supplying a tape cassette. Background Art

[0002] The carrier tape holding device described in Patent Document 1 is a carrier tape holding device provided together with a component supply unit, and the component supply unit supplies components by pulling a carrier tape from a tape reel body formed by winding a carrier tape containing components into a reel shape. In a component loading device including the carrier tape holding device described in Patent Document 1, there is a demand for achieving efficiency in at least one of a tape reel body (tape cassette) recovery operation and a supply operation, that is, efficiency in the operation related to the tape reel body.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2020 / 202737 Summary of the invention

[0006] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a component supply system, a configuration determination method, a control method, a management device, and a supply robot that can realize efficient operations related to tape cassettes.

[0007] A component supply system according to one embodiment of the present disclosure includes a supply robot, a control device for controlling the supply robot, and a management device capable of communicating with the control device. The supply robot performs at least one of a recovery operation of recovering an empty first tape cassette taken out as a target component from a trolley and a supply operation of supplying a second tape cassette as the tape cassette holding the target component to the trolley. The management device includes a request sending unit and a work instruction unit. The request sending unit sends a request to the control device for causing the control device to send a response including configuration information. The configuration information is information about the configuration position of at least one of the first tape cassette after being recovered from the trolley and the second tape cassette before being supplied to the trolley in the supply robot. The work instruction unit sends a work instruction for causing the supply robot to perform the work to the control device based on the configuration information. The control device includes: a request answering unit that sends the response to the management device according to the request sent from the request sending unit; and a supply robot control unit that causes the supply robot to perform the work based on the work instruction sent from the work instruction unit.

[0008] The configuration determination method involved in one aspect of the present disclosure is a configuration determination method for the tape cassette in the component supply system. The configuration determination method includes a target slot selection step, a recovery slot determination step, and a recovery slot setting step. In the target slot selection step, a target slot area is selected as a part of the first slot that can be opposed to the setting slot area in the second direction intersecting the first direction from the plurality of first slots arranged in the first direction of the supply robot. The setting slot area is a second slot that accommodates a part of the first tape cassette among the plurality of second slots of the carriage. The plurality of first slots can move within a given range in the first direction. In the recovery slot determination step, it is determined whether a recovery slot area that can accommodate the first tape cassette can be ensured in the target slot area. In the recovery slot setting step, if it is determined in the recovery slot determination step that the recovery slot area can be ensured, the recovery slot area is set in the target slot area. The supply robot recovers the first tape cassette in a state where the setting slot area and the recovery slot area are opposed in the second direction.

[0009] A control method according to one aspect of the present disclosure is a control method for a supply robot. The supply robot performs at least one of a recovery operation of recovering an empty tape box taken out as an object component from a trolley and a supply operation of supplying a second tape box as the tape box holding the object component to the trolley. The control method includes a request sending step, a request answering step, a work instruction step, and a supply robot control step. In the request sending step, a request for sending a reply including configuration information is sent, and the configuration information is information about the configuration position of at least one of the first tape box after recovery from the trolley and the second tape box before supply to the trolley in the supply robot. In the request answering step, the reply is sent according to the request sent in the request sending step. In the work instruction step, a work instruction for causing the supply robot to perform the work is sent based on the configuration information. In the supply robot control step, the supply robot is caused to perform the work based on the work instruction sent in the work instruction step.

[0010] A management device according to one aspect of the present disclosure is used in the component supply system.

[0011] A supply robot according to one aspect of the present disclosure is used in the component supply system. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a block diagram of a manufacturing system including a component supply system according to an embodiment of the present disclosure.

[0013] Figure 2 1 is a schematic diagram showing the appearance of a manufacturing system including the above component supply system.

[0014] Figure 3 is a schematic diagram of the main parts of the manufacturing system including the component supply system as above.

[0015] Figure 4 It is a sequence diagram for explaining the operation of the above component supply system.

[0016] Figure 5 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the first action example based on the configuration determination method applied in the above component supply system.

[0017] Figure 6 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the first action example based on the configuration determination method applied in the above component supply system.

[0018] Figure 7 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the first action example based on the configuration determination method applied in the above component supply system.

[0019] Figure 8 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the first action example based on the configuration determination method applied in the above component supply system.

[0020] Fig. 9 This is a diagram showing a display screen including the contents of the correction arrangement information generated by the arrangement determination method applied to the above-mentioned component supply system.

[0021] Fig.10 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the second action example based on the configuration determination method applied in the above component supply system.

[0022] Fig.11 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the second action example based on the configuration determination method applied in the above component supply system.

[0023] Fig.12 This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the second action example based on the configuration determination method applied in the above component supply system.

[0024] Fig.13This is a conceptual diagram for explaining the setting of the recovery tank area and the supply tank area in the second action example based on the configuration determination method applied in the above component supply system. DETAILED DESCRIPTION

[0025] The component supply system 2 involved in the embodiment of the present disclosure is described in detail with reference to the accompanying drawings. In addition, the figures described in the following embodiments are schematic diagrams, and the size and thickness ratios of the structural elements in each figure do not necessarily reflect the actual size ratio. In addition, the embodiment and modified example described below are only an example of the present disclosure, and the present disclosure is not limited to the embodiment and modified example. In addition to the embodiment and modified example, various changes can be made according to the design, etc. as long as they do not depart from the scope of the technical idea of ​​the present disclosure. In addition, the following embodiments (including modified examples) can also be implemented in appropriate combinations.

[0026] (1) Summary

[0027] like Figure 1 As shown, the component supply system 2 according to the present embodiment is included in the manufacturing system 1. The component supply system 2 is provided to the assembly device 30 (see Figure 2 ) to implement the operation.

[0028] The component supply system 2 includes a supply robot 4 , a control device (second control device) 6 that controls the supply robot 4 , and a management device 7 that can communicate with the second control device 6 .

[0029] The supply robot 4 performs the following operations including collecting the target component E1 (see Figure 2 ) The first empty tape cassette TB1 that was taken out (refer to Figure 3 ) and the second tape cassette TB2 (refer to Figure 3 ) is an operation of supplying at least one of the supply operations to the trolley W0.

[0030] The management device 7 includes a request sending unit 71 and a work instructing unit 72 .

[0031] The request sending unit 71 sends a request for causing the second control device 6 to send a response including the arrangement information. The arrangement information is information on the arrangement position of at least one of the first tape cassette TB1 after being collected from the cart W0 and the second tape cassette TB2 before being supplied to the cart W0 in the supply robot 4.

[0032] The work instruction unit 72 transmits a work instruction for causing the supply robot 4 to execute a work to the second control device 6 based on the arrangement information.

[0033] The second control device 6 includes a request answering unit 61 that sends a response to the request sent from the request sending unit 71 to the management device 7 , and a supply robot control unit 62 that causes the supply robot 4 to perform a task based on a task instruction sent from the task instruction unit 72 .

[0034] According to the component supply system 2 of this embodiment, the supply robot 4 can perform at least one of the recovery operation of the first tape cassette TB1 and the supply operation of the second tape cassette TB2 based on the automatically generated configuration information, thereby achieving efficiency in the operation related to the tape cassette.

[0035] (2) Details

[0036] Hereinafter, the component mounting system 3 and the component supply system 2 included in the manufacturing system 1 according to the embodiment will be described in detail.

[0037] (2.1) Prerequisites

[0038] In this embodiment, the case where the component mounting system 3 is used for manufacturing electronic equipment in a factory is described. A general electronic equipment has various circuit blocks such as a power circuit and a control circuit. In the manufacture of these circuit blocks, as an example, a solder coating process, a mounting process, and a soldering process are performed in this order. In the solder coating process, as shown in FIG. Figure 2 As shown, paste solder is applied (or printed) on a substrate E2 (including a printed wiring board). In the mounting process, a target component E1 including an electronic component is mounted (mounted) on the substrate E2. In the soldering process, for example, the substrate E2 with the target component E1 mounted thereon is heated in a reflow furnace to melt the paste solder and perform soldering.

[0039] In the mounting process, the component mounting system 3 mounts a plurality of target components E1 on the substrate E2. Figure 2 As shown, a product E3 including a substrate E2 on which a plurality of target components E1 are mounted is produced by the component mounting system 3. In other words, the product E3 includes the substrate E2 and the plurality of target components E1 mounted on the substrate E2.

[0040] In this embodiment, as an example, a case where the component mounting system 3 is used to mount an object component E1 based on surface mounting technology (SMT: Surface Mount Technology) is described. That is, the object component E1 is a surface mounting component (SMD: Surface Mount Device), which is mounted by being arranged on the surface (mounting surface) of the substrate E2. However, this example is not limited thereto, and the component mounting system 3 can also be used to mount an object component E1 based on insertion mounting technology (IMT: Insertion Mount Technology). In this case, the object component E1 is an insertion mounting component having a lead terminal, and is mounted on the mounting surface of the substrate E2 by inserting the lead terminal into a hole of the substrate E2.

[0041] In addition, if Figure 2 As shown, the trolley W0 of the assembly device 30 is a part (place) for supplying the target component E1. The component installation system 3 is equipped with a plurality of assembly devices 30. That is, the component installation system 3 has a plurality of trolleys W0, and the target component E1 supplied by each trolley W0 is used for the installation work. The trolley W0 is configured to be able to load a tape box (second tape box TB2) for supplying the target component E1. The second tape box TB2 holds these multiple target components E1 by placing a carrier tape holding multiple target components E1, so that the multiple target components E1 can be supplied from the trolley W0 to the component installation system 3. This trolley W0 includes a plurality of slots (second slots B0) that can hold tape boxes, and by placing a plurality of second tape boxes TB2 on these multiple second slots B0, multiple target components E1 are supplied to the component installation system 3 (assembly device 30).

[0042] The component supply system 2 performs a recovery operation of an empty tape cassette (first tape cassette TB1 ) from which the target component E1 has been taken out, and a supply operation of a tape cassette (second tape cassette TB2 ) holding the target component E1 .

[0043] Hereinafter, as an example, three axes of the X-axis, Y-axis, and Z-axis orthogonal to each other are set, and the axes parallel to the surface of the substrate E2 are set as the "X-axis" and the "Y-axis", and the axis parallel to the thickness direction of the substrate E2 is set as the "Z-axis". In particular, the "X-axis" is an axis along the direction in which a plurality of (for example, four) assembly devices 30 in the component mounting system 3 are arranged. In addition, the negative direction of the X-axis is also referred to as the "left side", and the positive direction of the X-axis is also referred to as the "right side". Furthermore, the side of the capture portion 81 observed from the substrate E2 is defined as the positive direction of the Z-axis (also referred to as "upward"). Here, as an example, the capture portion 81 is composed of a suction nozzle, and captures (holds) the target component E1 in a state that can be released (that is, released from the capture). The assembly device 30 captures the target component E1 supplied to the carriage W0 in a state held in the second tape box TB2 by the capture portion 81, moves the capture portion 81 in a state in which the target component E1 is captured, and releases the target component E1 on the substrate E2, thereby mounting the target component E1 on the mounting surface of the substrate E2. In addition, the state of viewing from the positive direction (upward) of the Z axis is also referred to as "looking down". The X axis, Y axis, and Z axis are all virtual axes, and the arrows representing "X", "Y", and "Z" in the drawings are only marked for explanation and are not accompanied by entities. In addition, these directions are not intended to limit the directions when the component mounting system 3 is used.

[0044] (2.2) Structure of component mounting system

[0045] Next, refer to Figure 1 as well as Figure 2 The structure of the component mounting system 3 will be described.

[0046] As described above, the component mounting system 3 includes a plurality of (for example, four) assembly devices 30. The four assembly devices 30 are arranged in a row along the X-axis. Figure 2 As shown, the four assembly devices 30 are also referred to as a first assembly device 31 , a second assembly device 32 , a third assembly device 33 , and a fourth assembly device 34 in order from the negative side (left side) of the X axis.

[0047] In the component mounting system 3 involved in the present embodiment, the first assembly device 31 is the head, and the substrate E2 moves through the four assembly devices 30 in the order of the second assembly device 32, the third assembly device 33, and the fourth assembly device 34. That is, the substrate E2 moves in the positive direction (right side) of the X-axis while passing through the four assembly devices 30 in sequence. While the substrate E2 passes through the four assembly devices 30, the component mounting system 3 mounts a plurality of target components E1 on the substrate E2 through each assembly device 30. Thus, the component mounting system 3 introduces the substrate E2 from the side of the first assembly device 31, and after the substrate E2 is mounted with a plurality of target components E1 (electronic components) through the four assembly devices 30, the product E3 is discharged from the side of the third assembly device 33.

[0048] In this embodiment, the basic structure of each of the four assembly devices 30 is common. Therefore, unless otherwise specified, the structure of only the first assembly device 31 will be described below, but it is assumed that the second assembly device 32, the third assembly device 33, and the fourth assembly device 34 also have basically the same structure.

[0049] The mounting device 30 includes a carriage W0 and a mounting head 8 .

[0050] The mounting head 8 has one or more catching parts 81. In this embodiment, the mounting head 8 in the first mounting device 31 has a plurality of (for example, 16) catching parts 81 (see Figure 2 ). The mounting head 8, in a state where the target component E1 is captured by the capturing portion 81, moves the capturing portion 81 so as to approach the substrate E2, and mounts the target component E1 on the mounting surface of the substrate E2.

[0051] The target component E1 captured by the capturing portion 81 of the mounting head 8 is supplied by the carriage W0. In the present embodiment, as described above, the carriage W0 includes a plurality of (e.g., 10) second slots B0 (see Figure 3 ). The 10 second grooves B0 are arranged along the X-axis direction. When distinguishing these 10 second grooves B0, as shown in FIG. Figure 3 As shown, the ten second grooves B0 are also referred to as second grooves B1 to B10 in order from the negative side (left side) of the X-axis.

[0052] (2.3) Structure of the parts supply system

[0053] Below, refer to Figure 1 to Figure 3 The overall structure of the component supply system 2 will be described.

[0054] The component supply system 2 includes a supply robot 4, a transport robot 9, and a control system 10. The control system 10 includes a management device 7, a first control device 5, and a second control device 6. The management device 7, the first control device 5, and the second control device 6 are configured to be able to communicate with each other. "Being able to communicate" in the present disclosure means being able to directly transmit and receive information through an appropriate communication method such as wired communication or wireless communication, or indirectly transmitting and receiving information via a network NT1 or a relay AP1, etc.

[0055] The supply robot 4 performs the first tape cassette TB1 (see FIG. 1 ) including collecting the empty tape cassette taken out as the target component E1 from the cart W0. Figure 3 ) and the second tape cassette TB2 (refer to Figure 3 ) is supplied to at least one of the supply operations of the cart W0. The supply robot 4 includes a plurality of (for example, 13) slots (the first slot A0) capable of accommodating the tape cassettes (the first tape cassette TB1 and the second tape cassette TB2). Figure 3 As shown, 13 first grooves A0 are arranged along the first direction DR1. When distinguishing these 13 first grooves A0, from one end ( Figure 3 Starting from the left end in FIG. 1 ), the 13 first slots A0 are sometimes referred to as the first slot A1 to the first slot A13 respectively.

[0056] The 13 first grooves A0 can be moved within a given range along the first direction DR1. For example, the 13 first grooves A0 can be moved from Figure 3 From the state (first state) in which the position of the first groove A1 in the first direction DR1 is the same as the position of the second groove B1, the distance of three first grooves A0 are moved in two directions along the first direction DR1. In other words, movable areas M1 to M3 are provided on the left side of the first groove A1 in the first state, and movable areas M4 to M6 are provided on the right side of the first groove A13 in the first state, and the width of each movable area M1 to M6 in the left-right direction is equal to the width of the first groove A0.

[0057] The supply robot 4 stores the first tape cassette TB1 recovered from the trolley W0 in a part of the 13 first slots A0. In addition, the supply robot 4 stores the second tape cassette TB2 supplied to the trolley W0 in a part of the 13 first slots A0. Figures 5 to 8 as well as Figure 10 to Figure 13As shown, the recovery operation of the first tape box TB1 from the trolley W0 (hereinafter referred to as the recovery operation) and the supply operation of the second tape box TB2 to the trolley W0 (hereinafter referred to as the supply operation) are performed in a state where the 13 first slots A0 and the 10 second slots B0 are opposed to each other in a substantially parallel state. In other words, the recovery operation of the first tape box TB1 from the trolley W0 and the supply operation of the second tape box TB2 to the trolley W0 are performed in a state where the arrangement direction of the 13 first slots A0, i.e., the first direction DR1, and the arrangement direction of the 10 second slots B0, i.e., the X-axis direction, are substantially parallel.

[0058] The disassembly operation of the first tape cassette TB1 collected from the trolley W0 from the supply robot 4 and the placement operation of the second tape cassette TB2 supplied to the trolley W0 on the supply robot 4 are performed, for example, in a component warehouse storing the carrier tape carrying the target component E1. In addition, the disassembly operation of the first tape cassette TB1 from the supply robot 4 and the placement operation of the second tape cassette TB2 on the supply robot 4 can be performed automatically by a dedicated device or manually by an operator.

[0059] The transport robot 9 transports the supply robot 4 between the cart W0 and the parts warehouse. After the supply robot 4 performs the recovery operation and the supply operation for the cart W0, places the second tape box TB2 supplied to the cart W0 in the parts warehouse, it is combined with the transport robot 9 and transported to the cart W0 by the transport robot 9. At this time, the transport robot 9 transports the supply robot 4 to a position where the 13 first slots A0 are opposed to the 10 second slots B0 in a state of being roughly parallel.

[0060] The first control device 5 monitors the operation of the first assembly device 31 to the fourth assembly device 34 provided in the component mounting system 3. The first control device 5 is configured to be able to communicate with the first assembly device 31 to the fourth assembly device 34 via a network. The first control device 5 collects status information indicating the operating status (that is, status information indicating the operating status of the component mounting system 3) from the first assembly device 31 to the fourth assembly device 34, and outputs the collected status information to the management device 7.

[0061] The second control device 6 includes a request answering unit 61, a supply robot control unit 62 for controlling the supply robot 4, a transfer robot control unit 63 for controlling the transfer robot 9, a display unit 64, and a second communication unit 65. The request answering unit 61 includes a job selecting unit 611, a configuration position setting unit 612, a configuration information generating unit 613, and a job sequence setting unit 614. The functions of the request answering unit 61, the supply robot control unit 62, and the transfer robot control unit 63 are described in detail in "(2.4) First Operation Example" and "(2.5) Second Operation Example".

[0062] The second communication unit 65 is configured to be able to communicate with the handling robot 9 and the supply robot 4 used in the factory via one or more relay machines AP1 configured in the factory. That is, one or more relay machines AP1 are devices (access points) that relay the communication between the handling robot 9 and the supply robot 4 and the second control device 6. The relay machine AP1 communicates with the second control device 6 via the network NT1. In the present embodiment, as an example, for the communication between the relay machine AP1 and the handling robot 9 and the supply robot 4, wireless communication based on standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark) or low-power wireless (specific low-power wireless) that does not require a license is adopted. In addition, the network NT1 is not limited to the Internet, for example, a local communication network within the area where the handling robot 9 and the supply robot 4 are used or within the operating company of the area can also be applied.

[0063] In addition, the second communication unit 65 is configured to be able to communicate with the management device 7 by, for example, wired communication.

[0064] The display unit 64 is used to present information to the user who uses the component supply system 2. The display unit 64 is implemented by a display device such as a liquid crystal display or an organic EL display.

[0065] The second control device 6 gives a transport instruction to the transport robot 9, and controls the transport operation of the supply robot 4 by the transport robot 9. In addition, the second control device 6 gives an operation instruction to the supply robot 4, and controls the recovery operation and supply operation performed by the supply robot 4. In addition, the second control device 6 may also give an operation instruction to the supply robot 4 via one or more relay machines AP1 and the transport robot 9. In this case, the transport robot 9 only needs to receive the operation instruction from the second control device 6 via the relay machine AP1, and the transport robot 9 only needs to give the operation instruction to the supply robot 4 during the transport of the supply robot 4.

[0066] The management device 7 includes a request transmission unit 71, a work instruction unit 72, and a first communication unit 73. The request transmission unit 71 includes a list information generation unit 711 and a request generation unit 712.

[0067] The first communication unit 73 is configured to be able to communicate with the first control device 5 and the second control device 6 by, for example, wired communication.

[0068] The overview information generating unit 711 generates overview information based on the status information received from the first control device 5, and the overview information includes information on at least one of the recovery operation of the first assembly device 31 to the fourth assembly device 34 to recover the first tape box TB1 from the trolley W0 (trolley W1 to W4), and the supply operation of supplying the second tape box TB2 to the trolleys W1 to W4.

[0069] The request generation unit 712 generates a request for causing a response including configuration information to be sent. The configuration information is information about the configuration position of at least one of the first tape cassette TB1 after being recovered from the cart W0 and the second tape cassette TB2 before being supplied to the cart W0 in the supply robot 4. In addition, the configuration information includes information about whether at least one of the recovery operation of the first tape cassette TB1 and the supply operation of the second tape cassette TB2 included in the overview information is possible.

[0070] The request generation unit 712 transmits a request for causing the second control device 6 to transmit a response including the configuration information to the second control device 6 via the first communication unit 73 .

[0071] The work instruction unit 72 generates a work instruction for causing the supply robot 4 to execute a work including at least one of the collection work and the supply work, based on the configuration information, and transmits the work instruction to the first communication unit 73 .

[0072] The request answering unit 61 sends a response including the configuration information to the management device 7 in response to the request sent from the request sending unit 71 .

[0073] The supply robot control unit 62 causes the supply robot 4 to perform a task including at least one of a collecting task and a supply task based on the task instruction sent from the task instruction unit 72 .

[0074] (2.4) Example 1

[0075] based on Figure 3 , Figures 5 to 9 and as a sequence diagram Figure 4 An example (first operation example) of the operation of the component supply system 2 of this embodiment will be described. Figure 4 The sequence diagram shown is only an example of the control method performed by the component supply system 2 of the present embodiment, and the order of the processes may be changed as appropriate, or processes may be added or omitted as appropriate.

[0076] First, the first control device 5 transmits status information indicating the operating status of the first to fourth mounting devices 31 to 34 to the first communication unit 73 of the management device 7 (step ST1). The status information includes information on the first tape cartridge TB1 to be collected and stored in the carts W1 to W4.

[0077] When the first communication unit 73 receives the status information, the overview information generating unit 711 generates the overview information based on the status information (step ST2). Here, in the first operation example, it is assumed that the trolley W1 contains four first tape boxes TB1 (first tape boxes TB11 to TB14), the trolley W2 contains the first tape box TB15, and the trolley W3 contains the first tape box TB16. In other words, the status information includes information of the first tape boxes TB11 to TB16. Here, the first tape boxes TB11 to TB16 are empty tape boxes that have held six types of object parts E1 (E11 to E16), respectively.

[0078] like Figure 3 As shown, the first tape box TB11 is accommodated in the second slots B1 and B2 of the carriage W1, the first tape box TB12 is accommodated in the second slot B3, the first tape box TB13 is accommodated in the second slots B4 to B7, and the first tape box TB14 is accommodated in the second slots B8 to B10. Here, the second slot B0 in which the first tape boxes TB11 to TB14 are arranged is referred to as the arrangement slot area P1 to P4, respectively. That is, as Figures 5 to 8 As shown, the second slots B1 and B2 are set as the slot area P1, the second slot B3 is set as the slot area P2, the second slots B4 to B7 are set as the slot area P3, and the second slots B8 to B10 are set as the slot area P4. In addition, although not shown in the figure, the first tape box TB15 is accommodated in the slot area P5 which is the second slots B1 to B4 of the trolley W2. Here, the second slots B1 to B4 of the trolley W2 in which the first tape box TB15 is arranged are referred to as the slot area P5. In addition, the first tape box TB16 is accommodated in the slot area P6 which is the second slots B1 and B2 of the trolley W3. Here, the second slots B1 and B2 of the trolley W3 in which the first tape box TB16 is arranged are referred to as the slot area P6.

[0079] The list information generating unit 711 generates the list information shown in Table 1 based on the status information including the information of the first tape cartridges TB11 to TB16.

[0080] [Table 1]

[0081]

[0082] The overview information includes information on the first to sixth operations to be performed by the supply robot 4. The first to sixth operations are operations corresponding to the target parts E11 to E16, respectively. In detail, the overview information includes information on the types of operations, priority information, target cart information, size information of the tape cassette, and position information of the setting slot area of ​​the first to sixth operations.

[0083] The operation type information is information indicating whether each of the first to sixth operations includes a recovery operation and a supply operation, or only includes a recovery operation, or only includes a supply operation. Specifically, as shown in Table 1, the first operation regarding the object component E11 includes a recovery operation and a supply operation. That is, the first operation includes a first recovery operation of recovering the first tape box TB11 that once held the object component E11 from the setting slot area P1, and a first supply operation of supplying the second tape box TB21 that holds the replaced object component E11 to the setting slot area P1. Similarly, the second operation includes a second recovery operation of recovering the first tape box TB12 that once held the object component E12 from the setting slot area P2, and a second supply operation of supplying the second tape box TB22 that holds the replaced object component E12 to the setting slot area P2. In addition, the third operation includes a third recovery operation of recovering the first tape box TB13 that once held the object component E13 from the setting slot area P3, and a third supply operation of supplying the second tape box TB23 that holds the replaced object component E13 to the setting slot area P3. In addition, the fourth operation includes a fourth recovery operation of recovering the first tape box TB14 that once held the object component E14 from the setting slot area P4, and a fourth supply operation of supplying the second tape box TB24 that holds the replaced object component E14 to the setting slot area P4. In addition, the fifth operation includes a fifth recovery operation of recovering the first tape box TB15 that once held the object component E15 from the setting slot area P5, and a fifth supply operation of supplying the second tape box TB25 that holds the replaced object component E15 to the setting slot area P5. In addition, the sixth operation includes a sixth recovery operation of recovering the first tape box TB16 that once held the object component E16 from the setting slot area P6, and a sixth supply operation of supplying the second tape box TB26 that holds the replaced object component E16 to the setting slot area P6.

[0084] In addition, the priority information is information about the priorities set for the first to sixth jobs. Specifically, the priorities are set in descending order of the first job (priority 1), the second job (priority 2), the third job (priority 3), the fourth job (priority 4), the fifth job (priority 5), and the sixth job (priority 6).

[0085] The target vehicle information is the information of the vehicle W0 that is the target of each of the first to sixth operations. In other words, the target of each of the first to sixth operations is any one of the vehicles W0 from the vehicles W1 to the vehicles W4. In the first action example, the target of each of the first to fourth operations is the vehicle W1, the target of the fifth operation is the vehicle W2, and the target of the sixth operation is the vehicle W3.

[0086] The size information of the tape cassette is information on the size of the tape cassettes (the first tape cassette TB1 and the second tape cassette TB2) corresponding to the first to sixth operations, respectively. In detail, the size of the tape cassettes corresponding to the first to sixth operations, respectively, is represented by the number of second slots B0 included in each of the setting slot areas P1 to P6 that are contained in each of the first tape cassettes TB11 to TB16 and serve as the supply destinations of the second tape cassettes TB21 to TB26, respectively. That is, since the setting slot area P1 is the second slots B1 and B2, the size of the tape cassette corresponding to the first operation is "2". Similarly, the size of the tape cassette corresponding to the second operation is "1". In addition, the size of the tape cassette corresponding to the third operation is "4". In addition, the size of the tape cassette corresponding to the fourth operation is "3". In addition, the size of the tape cassette corresponding to the fifth operation is "4". In addition, the size of the tape cassette corresponding to the sixth operation is "2".

[0087] The position information of the slot area is the position information of the slot area P1 to P4 in the second slots B1 to B10 of the trolley W1, the position information of the slot area P5 in the second slots B1 to B10 of the trolley W2, and the position information of the slot area P6 in the second slots B1 to B10 of the trolley W3. The position information of the slot areas P1 to P6 is represented by the second slot B0 at the left end of the second slot B0 of each slot area P1 to P6, which is the second slot B0 counted from the second slot B1. Specifically, since the second slot B0 at the left end of the slot area P1 is the second slot B1, the position information of the slot area P1 is "1". Similarly, the position information of the slot area P2 is "3". In addition, the position information of the slot area P3 is "4". In addition, the position information of the slot area P4 is "8". In addition, the position information of the slot area P5 is "1". In addition, the position information of the slot area P6 is "1".

[0088] Next, the request answering unit 61 generates the configuration information based on at least one of the job type information, priority information, target vehicle information, cassette size information, and location information of the installation slot area of ​​the first to sixth jobs included in the overview information. The generation of the configuration information by the request answering unit 61 is described in detail below.

[0089] When the list information generating unit 711 generates the list information, the request generating unit 712 generates a request for transmitting a response including the arrangement information, and transmits the request to the second control device 6 via the first communication unit 73 (step ST3 ). Here, the request is information including the list information.

[0090] When receiving the request from the request transmitting portion 71 , the job selecting portion 611 of the request answering portion 61 selects an executable job from the first to sixth jobs based on the list information included in the request (step ST4 ).

[0091] In selecting the executable job, the job selection unit 611 calculates the total number N2 obtained by adding the sizes of the first tape cassettes TB11 to TB16 based on the size information included in the list information. The job selection unit 611 also compares the total number N1 ("13" in the first operation example) of the first slots A0 of the supply robot 4 with the total number N2.

[0092] When the total number N2 is less than or equal to the total number N1, the job selection unit 611 determines that all of the recovery slot areas C1 to C6 capable of accommodating the first tape cartridges TB11 to TB16, respectively, can be set in the first slots A1 to A13.

[0093] When the total number N2 is greater than the total number N1, the job selection unit 611 determines that a portion of the recovery slot areas C1 to C6 cannot be set in the first slots A1 to A13. In the first action example, the total number N2 obtained by adding the sizes of the first tape boxes TB11 to TB16 is "16", which is greater than the total number N1, "13". That is, in the first action example, the job selection unit 611 determines that a portion of the recovery slot areas C1 to C6 cannot be set in the first slots A1 to A13. In other words, when the total number N2 is greater than the total number N1, the job selection unit 611 determines that a portion of the first tape boxes TB11 to TB16, which are the recovery objects of each of the first recovery operation to the sixth recovery operation, cannot be configured (recovered) in the first slots A1 to A13. In addition, since the 1st to 6th supply operations are respectively executed after the 1st to 6th recovery operations, the operation selection unit 611 determines that a portion of the 2nd tape boxes TB21 to TB26 that are the supply objects of the 1st to 6th supply operations cannot be configured in the 1st slots A1 to A13.

[0094] In this case, the request answering unit 61 generates the configuration information based on at least one of the information on the priority of the jobs excluding the job with the lowest priority among the first to sixth jobs, the information on the target carriage, the size information of the tape cassette, the position information of the setting slot area, and the job type information. Specifically, the job selecting unit 611 excludes the size of the first tape cassette TB1 corresponding to the job with the lowest priority, recalculates the total number N2, and restarts the generation of the configuration information.

[0095] The job selection unit 611 repeatedly calculates the total number N2 until the total number N2 is less than the total number N1. In the first action example, the total number N2 excluding the first tape box TB16 corresponding to the sixth job with a priority of "6" and the first tape box TB15 corresponding to the fifth job with a priority of "5" is "10", which is less than "13" as the total number N1. Therefore, the job selection unit 611 determines that among the recovery tank areas C1 to C6, the recovery tank areas C1 to C4 can be set, and the recovery tank areas C5 and C6 cannot be set. In addition, since the recovery tank areas C5 and C6 cannot be set, the job selection unit 611 determines that the supply tank area S5 for accommodating the second tape box TB25 and the supply tank area S6 for accommodating the second tape box TB26 cannot be set. That is, the job selection unit 611 selects the first to fourth jobs as executable jobs, and selects the fifth and sixth jobs as jobs that cannot be executed.

[0096] Next, the configuration position setting unit 612 determines the positions of the recovery tank areas C1 to C4 and the supply tank areas S1 to S4 corresponding to the first to fourth operations that can be performed in the first tanks A1 to A13. In addition, the supply tank areas S1 to S4 are areas that accommodate the second tape boxes TB21 to TB24, respectively. The configuration position setting unit 612 determines the positions based on the configuration positions of the recovery tank area C0 near the left end of the setting tank area P0 of the first tape box TB1 that accommodates the recovery object, and the supply tank area S0 near the left end of the setting tank area P0 to which the second tape box TB2 that supplies the supply object is supplied. That is, in the first action example, the configuration position setting unit 612 determines the positions in the order of the configuration positions of the recovery tank area C1 and the supply tank area S1, the configuration positions of the recovery tank area C2 and the supply tank area S2, the configuration positions of the recovery tank area C3 and the supply tank area S3, and the configuration positions of the recovery tank area C4 and the supply tank area S4. This will be described in detail below.

[0097] Furthermore, the positions of the recovery tank regions C1 to C4 and the supply tank regions S1 to S4 are determined with the first state in which the first tank A1 and the second tank B1 face each other in the second direction being the initial state.

[0098] First, if Figure 5As shown, the configuration position setting unit 612 performs a target slot selection step (step ST5) of selecting the target slot area T1 from the first slots A1 to A13. The target slot area T1 is the first slots A1 to A5 that can be opposed to the setting slot area P1 (the second slots B1 and B2 of the carriage W1) in the second direction DR2. In the first state as the initial state, the first slots A3 to A5 included in the target slot area T1 are not opposed to the setting slot area P1, but by sliding the first slots A1 to A13 to the movable areas M1 to M3 on the left side, they can be opposed to the setting slot area P1 in the second direction DR2.

[0099] When the target slot area T1 is selected, the configuration position setting unit 612 performs a recovery slot determination step (step ST6) of determining whether a recovery slot area C1 capable of accommodating the first tape cassette TB11 of size "2" can be secured in the target slot area T1. Here, the number of first slots A0 included in the first slots A1 to A5 is "5", which is more than the number of first slots A0 required to accommodate the first tape cassette TB11, i.e., "2", and therefore the configuration position setting unit 612 determines that the recovery slot area C1 can be secured in the target slot area T1.

[0100] When it is determined in the recovery slot determination step that the recovery slot area C1 can be secured in the target slot area T1, the configuration position setting unit 612 executes a recovery slot setting step (step ST7) of setting the recovery slot area C1 in the target slot area T1. At this time, the configuration position setting unit 612 sets the recovery slot area C1 in the target slot area T1 as left-aligned as possible. Therefore, the first slots A1 and A2 included in the target slot area T1 are set as the recovery slot area C1.

[0101] Next, the configuration position setting unit 612 performs a supply slot determination step (step ST8) of determining whether a supply slot area S1 capable of accommodating the second tape box TB21 of size "2" can be secured in the target slot area T1. Here, since the supply robot 4 supplies the second tape box TB21 to the setting slot area P1 after recovering the first tape box TB11, the configuration position setting unit 612 excludes the already set recovery slot area C1 from the setting candidates of the supply slot area S1. Specifically, since the first slots A1 and A2 are set as the recovery slot area C1 among the first slots A1 to A5 included in the target slot area T1, the configuration position setting unit 612 excludes the first slots A1 and A2 from the setting candidates of the supply slot area S1. That is, the configuration position setting unit 612 determines whether the supply slot area S1 can be secured in the first slots A3 to A5. Here, since the number of first slots A0 included in the first slots A3 to A5 is "3", which is greater than the number of first slots A0 required to accommodate the second tape box TB21, that is, "2", the configuration position setting unit 612 determines that the supply slot area S1 can be ensured in the first slots A3 to A5 of the object slot area T1.

[0102] When it is determined in the supply slot determination step that the supply slot area S1 can be secured in the first slots A3 to A5 of the target slot area T1, the configuration position setting unit 612 executes a supply slot setting step (step ST9) of setting the supply slot area S1 in the first slots A3 to A5. At this time, the configuration position setting unit 612 sets the supply slot area S1 in the first slots A3 to A5 as left-aligned as possible. Therefore, the first slots A3 and A4 are set as the supply slot area S1. For subsequent operations, the configuration position setting unit 612 will be omitted. Figure 4 .

[0103] Next, if Figure 6 As shown, the arrangement position setting unit 612 executes a target slot selection step of selecting a target slot area T2 from the first slots A1 to A13. The target slot area T2 is the first slots A1 to A6 that can be opposed to the installation slot area P2 (the second slot B3 of the carriage W1) in the second direction DR2.

[0104] When the object slot area T2 is selected, the configuration position setting unit 612 performs a recovery slot determination step of determining whether a recovery slot area C2 capable of accommodating the first tape box TB12 of size "1" can be ensured in the object slot area T2. Here, the configuration position setting unit 612 excludes the already set recovery slot area C1 from the setting candidates of the recovery slot area C2. Specifically, among the first slots A1 to A6 included in the object slot area T2, the first slots A1 and A2 are set as the recovery slot area C1, so the configuration position setting unit 612 excludes the first slots A1 and A2 from the setting candidate area of ​​the recovery slot area C2. In other words, the configuration position setting unit 612 determines whether the recovery slot area C2 can be ensured in the first slots A3 to A6. Here, the number of first slots A0 included in the first slots A3 to A6 is "4", which is greater than the number of first slots A0 required to accommodate the first tape box TB12, that is, "1", so the configuration position setting unit 612 determines that the recovery slot area C2 can be ensured in the first slots A3 to A6 of the object slot area T2.

[0105] When it is determined in the recovery slot determination step that the recovery slot area C2 can be secured in the first slots A3 to A6 of the target slot area T2, the configuration position setting unit 612 executes a recovery slot setting step of setting the recovery slot area C2 in the first slots A3 to A6. At this time, the configuration position setting unit 612 sets the recovery slot area C2 in the first slots A3 to A6 as left-aligned as possible. Therefore, the first slot A3 is set as the recovery slot area C2.

[0106] Next, the configuration position setting unit 612 performs a supply slot determination step of determining whether a supply slot area S2 capable of accommodating the second tape box TB22 of size "1" can be secured in the object slot area T2. Here, the configuration position setting unit 612 excludes the already set recovery slot area C2 and supply slot area S1 from the setting candidates for the supply slot area S2. Specifically, among the first slots A1 to A6 included in the object slot area T2, the first slots A3 and A4 are set as the supply slot area S1, and the first slot A3 is set as the recovery slot area C2. Therefore, the configuration position setting unit 612 excludes the first slots A3 and A4 from the area of ​​the setting candidates for the supply slot area S2. In other words, the configuration position setting unit 612 determines whether the supply slot area S2 can be secured in the first slots A1, A2, A5, and A6. Here, since the number of first slots A0 included in the first slots A1 and A2 is "2", which is greater than the number of first slots A0 required to accommodate the second tape box TB22, that is, "1", the configuration position setting unit 612 determines that the supply slot area S2 can be ensured in the first slots A1 and A2 of the target slot area T2. In addition, since the number of first slots A0 included in the first slots A5 and A6 is "2", which is greater than the number of first slots A0 required to accommodate the second tape box TB22, that is, "1", the configuration position setting unit 612 determines that the supply slot area S2 can be ensured in the first slots A5 and A6 of the target slot area T2. At this time, the configuration position setting unit 612 preferentially sets the area of ​​the first slots A1 and A2 and the first slots A5 and A6 that does not overlap with the recovery slot area C1 that has been set as a setting candidate for the supply slot area S2. That is, since the first slots A1 and A2 are set as the recovery slot region C1, the arrangement position setting unit 612 determines that the supply slot region S2 can be secured in the first slots A5 and A6.

[0107] When it is determined in the supply slot determination step that the supply slot area S2 can be secured in the first slots A5 and A6 of the target slot area T2, the arrangement position setting unit 612 executes a supply slot setting step of setting the supply slot area S2 in the first slots A5 and A6. At this time, the arrangement position setting unit 612 sets the supply slot area S2 in the first slots A5 and A6 so as to be aligned to the left as much as possible. Therefore, the first slot A5 is set as the supply slot S2.

[0108] Next, if Figure 7 As shown, the arrangement position setting unit 612 executes a target slot selection step of selecting a target slot area T3 from the first slots A1 to A13. The target slot area T3 is the first slots A1 to A10 that can be opposed to the installation slot area P3 (the second slots B4 to B7 of the carriage W1) in the second direction DR2.

[0109] When the object slot area T3 is selected, the configuration position setting unit 612 performs a recovery slot determination step of determining whether a recovery slot area C3 capable of accommodating the first tape box TB13 of size "4" can be ensured in the object slot area T3. Here, the configuration position setting unit 612 excludes the already set recovery slot areas C1 and C2 from the setting candidates of the recovery slot area C3. Specifically, since among the first slots A1 to A10 included in the object slot area T3, the first slots A1 and A2 are set as the recovery slot area C1, and the first slot A3 is set as the recovery slot area C2, the configuration position setting unit 612 excludes the first slots A1 to A3 from the setting candidate area of ​​the recovery slot area C3. In other words, the configuration position setting unit 612 determines whether the recovery slot area C3 can be ensured in the first slots A4 to A10. Here, since the number of first slots A0 included in the first slots A4~A10 is "7", which is greater than the number of first slots A0 required to accommodate the first tape box TB13, i.e., "4", the configuration position setting unit 612 determines that the recovery slot area C3 can be ensured in the first slots A4~A10 of the object slot area T3.

[0110] When it is determined in the recovery slot determination step that the recovery slot area C3 can be secured in the first slots A4 to A10 of the target slot area T3, the configuration position setting unit 612 executes a recovery slot setting step of setting the recovery slot area C3 in the first slots A4 to A10. At this time, the configuration position setting unit 612 sets the recovery slot area C3 in the first slots A4 to A10 as left-aligned as possible. Therefore, the first slots A4 to A7 are set as the recovery slot area C3.

[0111] Next, the configuration position setting unit 612 performs a supply slot determination step of determining whether a supply slot area S3 capable of accommodating the second tape box TB23 of size "4" can be secured in the object slot area T3. Here, the configuration position setting unit 612 excludes the already set recovery slot area C3 and supply slot areas S1 and S2 from the setting candidates for the supply slot area S3. Specifically, among the first slots A1 to A10 included in the object slot area T3, the first slots A3 and A4 are set as the supply slot area S1, the first slot A5 is set as the supply slot area S2, and the first slots A4 to A7 are set as the recovery slot area C3. The configuration position setting unit 612 excludes the first slots A3 to A7 from the setting candidate area for the supply slot area S3. In other words, the configuration position setting unit 612 determines whether the supply slot area S3 can be secured in the first slots A1, A2, and A8 to A10. Here, since the number of first slots A0 included in the first slots A1 and A2 is "2", which is less than the number of first slots A0 required to accommodate the second tape cartridge TB23, i.e., "4", the configuration position setting unit 612 determines that the supply slot area S3 cannot be ensured in the first slots A1 and A2 of the target slot area T3. In addition, since the number of first slots A0 included in the first slots A8 to A10 is "3", which is less than the number of first slots A0 required to accommodate the second tape cartridge TB23, i.e., "4", the configuration position setting unit 612 determines that the supply slot area S3 cannot be ensured in the first slots A8 to A10 of the target slot area T3, and does not set the supply slot area S3.

[0112] Next, if Figure 8 As shown, the arrangement position setting unit 612 executes a target slot selection step of selecting a target slot area T4 from the first slots A1 to A13. The target slot area T4 is the first slots A5 to A13 that can be opposed to the installation slot area P4 (the second slots B8 to B10 of the carriage W1) in the second direction DR2.

[0113] When the object slot area T4 is selected, the configuration position setting unit 612 performs a recovery slot determination step of determining whether a recovery slot area C4 capable of accommodating the first tape box TB14 of size "3" can be ensured in the object slot area T4. Here, the configuration position setting unit 612 excludes the already set recovery slot areas C1 to C3 from the setting candidates of the recovery slot area C4. Specifically, since the first slots A5 to A7 are set as the recovery slot area C3 among the first slots A5 to A13 included in the object slot area T4, the configuration position setting unit 612 excludes the first slots A5 to A7 from the setting candidate area of ​​the recovery slot area C4. In other words, the configuration position setting unit 612 determines whether the recovery slot area C4 can be ensured in the first slots A8 to A13. Here, since the number of first slots A0 included in the first slots A8~A13 is "6", which is greater than the number of first slots A0 required to accommodate the first tape box TB14, i.e., "3", the configuration position setting unit 612 determines that the recovery slot area C4 can be ensured in the first slots A8~A13 of the object slot area T4.

[0114] When it is determined in the recovery slot determination step that the recovery slot area C4 can be secured in the first slots A8 to A13 of the target slot area T4, the arrangement position setting unit 612 executes a recovery slot setting step of setting the recovery slot area C4 in the first slots A8 to A13. At this time, the arrangement position setting unit 612 sets the recovery slot area C4 in the first slots A8 to A13 as left-aligned as possible. Therefore, the first slots A8 to A10 are set as the recovery slot area C4.

[0115] Next, the configuration position setting unit 612 performs a supply slot determination step of determining whether a supply slot area S4 capable of accommodating the second tape box TB24 of size "3" can be secured in the object slot area T4. Here, the configuration position setting unit 612 excludes the already set recovery slot area C4 and supply slot areas S1 and S2 from the setting candidates for the supply slot area S4. Specifically, since among the first slots A5 to A13 included in the object slot area T4, the first slot A5 is set as the supply slot area S2, and the first slots A8 to A10 are set as the recovery slot area C4, the configuration position setting unit 612 excludes the first slots A5 and A8 to A10 from the setting candidate areas for the supply slot area S4. In other words, the configuration position setting unit 612 determines whether the supply slot area S4 can be secured in the first slots A6, A7, and A11 to A13. Here, since the number of first slots A0 included in the first slots A6 and A7 is "2", which is less than the number of first slots A0 required to accommodate the second tape cartridge TB24, namely "3", the configuration position setting unit 612 determines that the supply slot area S4 cannot be secured in the first slots A6 and A7 of the target slot area T4. In addition, since the number of first slots A0 included in the first slots A11 to A13 is "3", which is equal to the number of first slots A0 required to accommodate the second tape cartridge TB24, namely "3", the configuration position setting unit 612 determines that the supply slot area S4 can be secured in the first slots A11 to A13 of the target slot area T4.

[0116] When it is determined in the supply slot determination step that the supply slot area S4 can be secured in the first slots A11 to A13 of the target slot area T4 , the arrangement position setting unit 612 executes a supply slot setting step of setting the first slots A11 to A13 as the supply slot area S4 .

[0117] Through the above-described processing, the recovery tank areas C1 to C4 and the supply tank areas S1 , S2 , and S4 are set in the first tanks A1 to A13 .

[0118] The configuration information generating unit 613 generates configuration information including the setting results of the recovery tank areas C1 to C4 and the supply tank areas S1, S2, and S4 (step ST10). That is, the configuration information includes information about the recovery tank area C0 where the first tape cartridge TB1, which is the recovery target in the recovery operation, is recovered, and the supply tank area S0 where the second tape cartridge TB2, which is the supply target in the supply operation, is accommodated.

[0119] In more detail, as shown in Table 2, the configuration information includes the job type information of the 1st to 4th jobs that can be performed, the information of the target trolley, the size information of the tape box, the position information of the setting slot area, the position information of the recovery slot area, and the position information of the supply slot area.

[0120] [Table 2]

[0121]

[0122] Here, the first operation, the second operation, and the fourth operation can respectively implement the recovery operation and the supply operation as specified in the overview information, so the operation type information is "recovery / supply". In addition, as described above, since the supply slot area S3 that can accommodate the second tape box TB23 cannot be ensured, the operation type information of the third operation is only "recovery". In other words, the third operation in the configuration information only includes the third recovery operation. In addition, the information of the fifth operation and the sixth operation, which are operations that cannot be implemented, is not included in the configuration information. In this way, the configuration information includes information on whether the first recovery operation to the sixth recovery operation and the first supply operation to the sixth supply operation are possible.

[0123] The position information of the recovery tank area is the position information of the recovery tank area C1 to C4 in the first tanks A1 to A13. The position information of the recovery tank area is represented by the first tank A0 of the leftmost among the first tanks A0 included in each recovery tank area C1 to C4, which first tank A0 is counted from the first tank A1.

[0124] The position information of the supply tank area is the position information of the supply tank area S1, S2, S4 in the first tanks A1 to A13. The position information of the supply tank area is represented by the first tank A0 at the left end among the first tanks A0 included in each supply tank area S1, S2, S4, which first tank A0 is counted from the first tank A1. In addition, since the supply tank area S3 is not set in the first operation example, the supply position corresponding to the third operation is "0" in Table 2.

[0125] In addition, the configuration information does not need to include all the job type information, the target trolley information, the size information of the tape box, the position information of the setting slot area, the position information of the recovery slot area, and the position information of the supply slot area. For example, it can also include only the job type information.

[0126] When the arrangement information generation unit 613 generates the arrangement information, the second communication unit 65 transmits a response including the arrangement information to the first communication unit 73 of the management device 7 (step ST11 ).

[0127] When the first communication unit 73 receives the reply including the configuration information, the operation instruction unit 72 generates an operation instruction as information including the configuration information based on the configuration information (step ST12), and transmits the operation instruction to the second communication unit 65 of the second control device 6 via the first communication unit 73 (step ST13). The operation instruction is information for causing the supply robot 4 to perform the first operation (the first collection operation and the first supply operation), the second operation (the second collection operation and the second supply operation), the third operation (the third collection operation), and the fourth operation (the fourth collection operation and the fourth supply operation) that the supply robot 4 can perform.

[0128] When the second communication unit 65 receives the job instruction from the job instruction unit 72, the job order setting unit 614 determines the job order of the first job to the fourth job based on the configuration information (step ST14). The following describes the determination of the job order of the first job to the fourth job by the job order setting unit 614 in the first operation example.

[0129] When the second communication unit 65 receives a job instruction from the job instruction unit 72, the job sequence setting unit 614 confirms the path sequence of the first to fourth jobs from the information of the object trolley included in the configuration information. Here, the supply robot 4 and the transport robot that transports the supply robot 4 perform the operations in the order of trolley W1, trolley W2, and trolley W3. In other words, the path sequence of the operations performed on trolley W1 is "1", the path sequence of the operations performed on trolley W2 is "2", and the path sequence of the operations performed on trolley W3 is "3". In other words, since the object trolley for the first to fourth jobs is trolley W1, the job sequence setting unit 614 determines that the path sequence of the first to fourth jobs is "1".

[0130] Next, the operation sequence setting unit 614 studies the operation sequence for two operations (the first comparison object operation corresponding to the setting slot area P0 on the left and the second comparison object operation corresponding to the setting slot area P0 on the right) adjacent to each other in the left-right direction among the first to fourth operations. The operation sequence setting unit 614 determines whether the recovery slot area C0 set corresponding to the first comparison object operation and the supply slot area S0 set corresponding to the second comparison object operation are repeated. In the case where the recovery slot area C0 set corresponding to the first comparison object operation and the supply slot area S0 set corresponding to the second comparison object operation do not overlap, the operation sequence setting unit 614 sets the operation sequence of the first comparison object operation before the operation sequence of the second comparison object operation. In addition, in the case where the recovery slot area C0 set corresponding to the first comparison object operation and the supply slot area S0 set corresponding to the second comparison object operation overlap, the operation sequence setting unit 614 sets the operation sequence of the second comparison object operation before the operation sequence of the first comparison object operation. Furthermore, the operation order setting unit 614 starts comparing the operation orders starting from the first comparison target operation and the second comparison target operation located near the left end of the installation slot area P0.

[0131] Specifically, the operation sequence setting unit 614 determines the operation sequence for the first operation corresponding to the setting slot area P1 and the second operation corresponding to the setting slot area P2 on the right side of the setting slot area P1. Figure 8 As shown, the recovery tank area C1 corresponding to the first operation is set to the first tanks A1 and A2, and the supply tank area S2 corresponding to the second operation is set to the first tank A5. Therefore, in the first operation example, since the recovery tank area C1 and the supply tank area S2 do not overlap, the operation sequence setting unit 614 sets the operation sequence of the first operation before the operation sequence of the second operation.

[0132] Next, the operation sequence setting unit 614 examines the operation sequence for the second operation corresponding to the setting tank area P2 and the third operation corresponding to the setting tank area P3 on the right side of the setting tank area P2. In the first operation example, the recovery tank area C2 corresponding to the second operation is set as the first tank A3, and the supply tank area S3 corresponding to the third operation is not set. Therefore, in the first operation example, since the recovery tank area C2 and the supply tank area S3 do not overlap, the operation sequence setting unit 614 sets the operation sequence of the second operation before the operation sequence of the third operation.

[0133] Next, the operation sequence setting unit 614 examines the operation sequence for the third operation corresponding to the setting tank area P3 and the fourth operation corresponding to the setting tank area P4 on the right side of the setting tank area P3. In the first operation example, the recovery tank area C3 corresponding to the third operation is set to the first tanks A4 to A7, and the supply tank area S4 corresponding to the fourth operation is set to the first tanks A11 to A13. Therefore, in the first operation example, since the recovery tank area C3 and the supply tank area S4 do not overlap, the operation sequence setting unit 614 sets the operation sequence of the third operation before the operation sequence of the fourth operation.

[0134] Through the above processing, the operation order of the first to fourth operations is determined. Specifically, the operation order of the first operation is set to "1", the operation order of the second operation is set to "2", the operation order of the third operation is set to "3", and the operation order of the fourth operation is set to "4".

[0135] When the job order setting unit 614 determines the job order of the first to fourth jobs, the arrangement information generating unit 613 generates the modified arrangement information in which the job order of the first to fourth jobs is added to the arrangement information as shown in Table 3 (step ST15 ).

[0136] [Table 3]

[0137]

[0138] In addition, the arrangement information generating unit 613 causes the display unit 64 to display a display screen G1 (see FIG. 1 ) including a list L1 reflecting the contents of the modified arrangement information. Fig. 9). For the column at the left end of the list L1, information J1 to J6 about the 1st to 6th jobs are displayed from the top. Information J1 to J6 are displayed in sequence from the left, with the number of the object component, the job order, the object trolley, size information, job type information, job availability information, and priority separated by ",". As an example, the information J1 (1, O: 1, SQ1, W: 2, Both, Val, P: 1) displayed in the first row is explained. Information J1 shows that the 1st job is the job corresponding to the object component E11 ("1"), the job order of the 1st job is 1st ("O: 1"), the object trolley of the 1st job is trolley W1 ("SQ1"), and the size of the 1st tape box TB11 and the 2nd tape box TB21 is "2" ("W: 2"). In addition, information J1 shows that the first operation includes the first recovery operation and the first supply operation ("both"), the first operation is an executable operation ("Val"), and the priority of the first operation is "1" (P: 1). In addition, the information J3 (3, O: 3, SQ1, W: 4, Col, Val, P: 3) displayed in the third row is explained. Information J3 shows that the third operation is the operation corresponding to the object part E13 ("3"), the operation order of the third operation is the third ("O: 3"), the object trolley of the third operation is the trolley W1 ("SQ1"), and the size of the first tape box TB13 and the second tape box TB23 is "4" ("W: 4"). In addition, information J3 shows that the third operation includes the third recovery operation ("Col"), the third operation is an executable operation ("Val"), and the priority of the third operation is "3" (P: 3). In addition, since the information J5 and J6 displayed in the fifth and sixth rows are information corresponding to the fifth and sixth operations that cannot be performed, respectively, the operability information is displayed as "Inv".

[0139] On the right side of the information J1 to J6, information on the recovery tank area C0 and the supply tank area S0 is displayed. Specifically, at the top of the configuration information, numbers "1" to "13" representing the first tanks A1 to A13 are displayed. Also, on the right side of each of the information J1 to J6, "C" is displayed in the portion of the first tanks A1 to A13 set as the recovery tank area C0, and "S" is displayed in the portion set as the supply tank area. For example, in the information J1, on the right side, "C" is displayed in the first tanks A1 and A2 set as the recovery tank area C1, and "S" is displayed in the first tanks A3 and A4 set as the supply tank area S1.

[0140] When the corrected configuration information is generated by the configuration information generating unit 613, the transport robot control unit 63 generates a transport control signal for transporting the supply robot 4 to the trolley W1 which is the object trolley for the first to fourth operations based on the corrected configuration information (step ST16), and sends it to the transport robot 9 via the second communication unit and the relay AP1 (step ST17).

[0141] When receiving the transport control signal from the transport robot control unit 63, the transport robot 9 transports the supply robot 4 to the parts warehouse. When the second tape cassettes TB21, TB22, and TB24 are respectively accommodated in the supply slot areas S1, S2, and S4 of the supply robot 4 in the parts warehouse, the transport robot 9 transports the supply robot 4 to the carriage W1 so as to be in the first state in which the first slot A1 and the second slot B1 are opposed to each other in the second direction (step ST18).

[0142] When the supply robot 4 is transferred to the carriage W1 , the transfer robot 9 transmits a transfer completion signal to the second control device 6 (step ST19 ).

[0143] When receiving the transfer completion signal, the supply robot control unit 62 generates a supply control signal for causing the supply robot 4 to perform the first to fourth tasks based on the corrected configuration information (step ST20 ), and transmits the signal to the supply robot 4 via the second communication unit and the relay AP1 (step ST21 ).

[0144] When receiving the supply control signal from the supply robot control unit 62 , the supply robot 4 starts executing the first to fourth tasks (step ST22 ). Hereinafter, the execution operation of the first to fourth tasks by the supply robot 4 will be briefly described.

[0145] First, the supply robot 4 is in a first state (see FIG. 1 ) in which the setting tank area P1 and the collection tank area C1 are opposed to each other in the second direction (front-rear direction). Figure 8 ), the first tape cassette TB11 accommodated in the setting slot area P1 is recovered to the recovery slot area C1. That is, the supply robot 4 performs the first recovery operation included in the first operation.

[0146] Next, the supply robot 4 moves the first slots A1 to A13 to the left until the second state in which the first slot A1 overlaps the movable region M2 is reached. Figure 8 The state shown is a state in which the device has been slid to the left by a distance of two first grooves A0. In the second state, the supply groove area S1 and the setting groove area P1 are opposed to each other in the second direction (front-rear direction).

[0147] In the second state, the supply robot 4 supplies the second tape cassette TB21 accommodated in the supply slot area S1 to the installation slot area P1. That is, the supply robot 4 performs the first supply operation included in the first operation.

[0148] Next, the supply robot 4 moves the first slots A1 to A13 to the right until the first state is achieved.

[0149] In the first state, the supply robot 4 recovers the first tape cartridge TB12 stored in the set slot area P2 to the recovery slot area C2. That is, the supply robot 4 performs the second recovery operation included in the second operation.

[0150] Next, the supply robot 4 moves the first slots A1 to A13 to the left until the second state is reached. In the second state, the supply slot region S2 and the setting slot region P2 face each other in the front-rear direction.

[0151] In the second state, the supply robot 4 supplies the second tape cassette TB22 stored in the supply slot area S2 to the setting slot area P2. That is, the supply robot 4 performs the second supply operation included in the second operation.

[0152] Next, the supply robot 4 moves the first slots A1 to A13 to the right until the first state is achieved.

[0153] In the first state, the supply robot 4 recovers the first tape cartridge TB13 stored in the set slot area P3 to the recovery slot area C3. That is, the supply robot 4 performs the third recovery operation included in the third operation.

[0154] Next, the supply robot 4 recovers the first tape cartridge TB14 stored in the set slot area P4 to the recovery slot area C4 in the first state. That is, the supply robot 4 performs the fourth recovery operation included in the fourth operation.

[0155] Next, the supply robot 4 moves the first slots A1 to A13 to the left until the third state is reached in which the first slot A1 overlaps the movable region M1. The third state is when the first slots A1 to A13 are Figure 8 The state shown is a state in which the first slot A3 is slid to the left by three. In the third state, the supply slot area S4 and the setting slot area P4 are opposed to each other in the front-rear direction.

[0156] In the third state, the supply robot 4 supplies the second tape cassette TB24 accommodated in the supply slot area S4 to the setting slot area P4. That is, the supply robot 4 performs the fourth supply operation included in the fourth operation.

[0157] (2.5) Example 2

[0158] based on Figure 10 to Figure 13 and as a sequence diagram Figure 4 , an example (second operation example) of the operation of the component supply system 2 of this embodiment which is different from the first operation example will be described. In addition, description of the parts common to the first operation example will be appropriately omitted.

[0159] First, the first control device 5 transmits status information indicating the operating status of the first to fourth mounting devices 31 to 34 to the first communication unit 73 included in the management device 7 (step ST1 ).

[0160] When the first communication unit 73 receives the status information, the overview information generating unit 711 generates the overview information based on the status information (step ST2). Here, in the second operation example, it is assumed that the first tape cartridges TB11, TB13, and TB14 are contained in the carriage W1, and the first tape cartridge TB12 is contained in the carriage W2. That is, the status information includes the information of the first tape cartridges TB11 to TB14.

[0161] In the second operation example, the first tape box TB11 is accommodated in the second slots B1 and B2 of the carriage W1, the first tape box TB13 is accommodated in the second slots B4 to B7 of the carriage W1, and the first tape box TB14 is accommodated in the second slots B8 to B10 of the carriage W1. Fig.11 As shown, the first tape box TB12 is accommodated in the second slot B3 (D3) of the carriage W2. That is, the second slots B1 and B2 of the carriage W1 are set as the slot area P1, the second slot D3 of the carriage W2 is set as the slot area P2, the second slots B4 to B7 of the carriage W1 are set as the slot area P3, and the second slots B8 to B10 of the carriage W1 are set as the slot area P4.

[0162] The list information generating unit 711 generates the list information shown in Table 4 based on the status information including the information of the first tape cartridges TB11 to TB14.

[0163] [Table 4]

[0164]

[0165] The overview information includes information about the first to fourth operations to be performed by the supply robot 4. The first to fourth operations are operations on the target parts E11 to E14, respectively. In detail, the overview information includes information about the types of operations, priority information, target cart information, size information of the tape cassette, and position information of the setting slot area of ​​the first to fourth operations.

[0166] The operation type information is information indicating whether the first to fourth operations each include a recovery operation and a supply operation, or only include a recovery operation, or only include a supply operation. Specifically, the first operation includes a first recovery operation of recovering the first tape box TB11 that once held the object component E11 from the setting slot area P1, and a first supply operation of supplying the second tape box TB21 that holds the replaced object component E11 to the setting slot area P1. Similarly, the second operation includes a second recovery operation of recovering the first tape box TB12 that once held the object component E12 from the setting slot area P2, and a second supply operation of supplying the second tape box TB22 that holds the replaced object component E12 to the setting slot area P2. In addition, the third operation includes a third recovery operation of recovering the first tape box TB13 that once held the object component E13 from the setting slot area P3, and a third supply operation of supplying the second tape box TB23 that holds the replaced object component E13 to the setting slot area P3. The fourth operation includes a fourth collecting operation of collecting the first tape cartridge TB14 that once held the target component E14 from the setting slot area P4 and a fourth supply operation of supplying the second tape cartridge TB24 that holds the replacement target component E14 to the setting slot area P4.

[0167] The priority information is information about the priorities set for the first to fourth jobs. Specifically, the priorities are set in descending order of the first job (priority 1), the second job (priority 2), the third job (priority 3), and the fourth job (priority 4).

[0168] The target vehicle information is information about the vehicle W0 that is the target of each of the first to fourth operations. In the second operation example, the targets of the first, third, and fourth operations are the vehicle W1, and the target of the second operation is the vehicle W2.

[0169] The size information of the tape cassette is information on the size of the tape cassettes (the first tape cassette TB1 and the second tape cassette TB2) corresponding to the first to fourth operations, respectively. Specifically, the size of the tape cassette corresponding to the first operation is "2". Similarly, the size of the tape cassette corresponding to the second operation is "1". In addition, the size of the tape cassette corresponding to the third operation is "4". In addition, the size of the tape cassette corresponding to the fourth operation is "3".

[0170] The position information of the setting slot area is the position information of the setting slot areas P1, P3, and P4 in the second slots B1 to B10 of the carriage W1, and the position information of the setting slot area P2 in the second slots B1 (D1) to B10 (D10) of the carriage W2. The position information of the setting slot area P1 is "1". The position information of the setting slot area P2 is "3". In addition, the position information of the setting slot area P3 is "4". In addition, the position information of the setting slot area P4 is "8".

[0171] Next, the request answering unit 61 generates the configuration information based on at least one of the job type information, priority information, target vehicle information, cassette size information, and location information of the setting slot area of ​​the first to fourth jobs included in the overview information. The generation of the configuration information by the request answering unit 61 is described in detail below.

[0172] When the list information generating unit 711 generates the list information, the request generating unit 712 generates a request for transmitting a response including the arrangement information, and transmits the request to the second control device 6 via the first communication unit 73 (step ST3 ).

[0173] When receiving the request from the request transmitting portion 71 , the job selecting portion 611 of the request answering portion 61 selects an executable job from among the first to fourth jobs based on the list information included in the request (step ST4 ).

[0174] In the second operation example, the total number N2 obtained by adding the sizes of the first tape boxes TB11 to TB14 is "10", which is less than the total number N1 of "13". Therefore, in the second operation example, the job selection unit 611 determines that the recovery tank areas C1 to C4 can be set in the first slots A1 to A13. That is, the job selection unit 611 selects the first to fourth jobs as executable jobs.

[0175] Next, the configuration position setting unit 612 determines the positions of the recovery tank areas C1 to C4 and the supply tank areas S1 to S4 corresponding to the first to fourth operations that can be performed in the first tank A1 to A13. In the second operation example, the configuration position setting unit 612 determines the configuration positions of the recovery tank area C1 and the supply tank area S1, the configuration positions of the recovery tank area C2 and the supply tank area S2, the configuration positions of the recovery tank area C3 and the supply tank area S3, and the configuration positions of the recovery tank area C4 and the supply tank area S4 in this order. This will be described in detail below.

[0176] Furthermore, the positions of the recovery tank regions C1 to C4 and the supply tank regions S1 to S4 are determined with the first state in which the first tank A1 and the second tank B1 face each other in the second direction being the initial state.

[0177] First, if Fig.10 As shown, the arrangement position setting unit 612 executes a target slot selection step (step ST5 ) of selecting a target slot area T1 from the first slots A1 to A13 . The target slot area T1 is the first slots A1 to A5 that can be opposed to the installation slot area P1 (the second slots B1 and B2 of the carriage W1 ) in the second direction DR2 .

[0178] When the target slot area T1 is selected, the configuration position setting unit 612 performs a recovery slot determination step (step ST6) of determining whether a recovery slot area C1 capable of accommodating the first tape cassette TB11 of size "2" can be secured in the target slot area T1. Here, the number of first slots A0 included in the first slots A1 to A5 is "5", which is more than the number of first slots A0 required to accommodate the first tape cassette TB11, i.e., "2", and therefore the configuration position setting unit 612 determines that the recovery slot area C1 can be secured in the target slot area T1.

[0179] When it is determined in the recovery slot determination step that the recovery slot area C1 can be secured in the target slot area T1, the configuration position setting unit 612 executes a recovery slot setting step (step ST7) of setting the recovery slot area C1 in the target slot area T1. At this time, the configuration position setting unit 612 sets the recovery slot area C1 in the target slot area T1 as left-aligned as possible. Therefore, the first slot A1 and the first slot A2 included in the target slot area T are set as the recovery slot area C1.

[0180] Next, the configuration position setting unit 612 performs a supply slot determination step (step ST8) of determining whether a supply slot area S1 capable of accommodating the second tape cassette TB21 of size "2" can be secured in the target slot area T1. Since the first slots A1 and A2 among the first slots A1 to A5 included in the target slot area T1 are set as the recovery slot area C1, the configuration position setting unit 612 excludes the first slots A1 and A2 from the area of ​​setting candidates for the supply slot area S1. In other words, the configuration position setting unit 612 determines whether the supply slot area S1 can be secured in the first slots A3 to A5. Here, since the number of first slots A0 included in the first slots A3 to A5 is "3", which is greater than the number of first slots A0 required to accommodate the second tape cassette TB21, i.e., "2", the configuration position setting unit 612 determines that the supply slot area S1 can be secured in the first slots A3 to A5 of the target slot area T1.

[0181] When it is determined in the supply slot determination step that the supply slot area S1 can be secured in the first slots A3 to A5 of the target slot area T1, the configuration position setting unit 612 executes a supply slot setting step (step ST9) of setting the supply slot area S1 in the first slots A3 to A5. At this time, the configuration position setting unit 612 sets the supply slot area S1 in the first slots A3 to A5 as left-aligned as possible. Therefore, the first slots A3 and A4 are set as the supply slot area S1. For subsequent operations, the configuration position setting unit 612 will be omitted. Figure 4 .

[0182] Next, if Fig.11As shown, the arrangement position setting unit 612 executes a target slot selection step of selecting a target slot area T2 from the first slots A1 to A13. The target slot area T2 is the first slots A1 to A6 that can be opposed to the installation slot area P2 (the second slot D3 of the carriage W2) in the second direction DR2.

[0183] When the object slot area T2 is selected, the configuration position setting unit 612 performs a recovery slot determination step of determining whether a recovery slot area C2 capable of accommodating the first tape box TB12 of size "1" can be ensured in the object slot area T2. Here, the configuration position setting unit 612 excludes the already set recovery slot area C1 from the setting candidates of the recovery slot area C2. Specifically, among the first slots A1 to A6 included in the object slot area T2, the first slots A1 and A2 are set as the recovery slot area C1, so the configuration position setting unit 612 excludes the first slots A1 and A2 from the setting candidate area of ​​the recovery slot area C2. In other words, the configuration position setting unit 612 determines whether the recovery slot area C2 can be ensured in the first slots A3 to A6. Here, the number of first slots A0 included in the first slots A3 to A6 is "4", which is greater than the number of first slots A0 required to accommodate the first tape box TB12, that is, "1", so the configuration position setting unit 612 determines that the recovery slot area C2 can be ensured in the first slots A3 to A6 of the object slot area T2.

[0184] When it is determined in the recovery slot determination step that the recovery slot area C2 can be secured in the first slots A3 to A6 of the target slot area T2, the configuration position setting unit 612 executes a recovery slot setting step of setting the recovery slot area C2 in the first slots A3 to A6. At this time, the configuration position setting unit 612 sets the recovery slot area C2 in the first slots A3 to A6 as left-aligned as possible. Therefore, the first slot A3 is set as the recovery slot area C2.

[0185] Next, the configuration position setting unit 612 performs a supply slot determination step of determining whether a supply slot area S2 capable of accommodating the second tape box TB22 of size "1" can be secured in the object slot area T2. The supply robot 4 supplies the second tape box TB22 to the setting slot area P2 after recovering the first tape box TB12. Here, the configuration position setting unit 612 excludes the already set recovery slot area C2 and supply slot area S1 from the setting candidates of the supply slot area S2. Specifically, among the first slots A1 to A6 included in the object slot area T2, the first slots A3 and A4 are set as the supply slot area S1, and the first slot A3 is set as the recovery slot area C2. The configuration position setting unit 612 excludes the first slots A3 and A4 from the setting candidate area of ​​the supply slot area S2. In other words, the configuration position setting unit 612 determines whether the supply slot area S2 can be secured in the first slots A1, A2, A5, and A6. Here, since the number of first slots A0 included in the first slots A1 and A2 is "2", which is greater than the number of first slots A0 required to accommodate the second tape box TB22, that is, "1", the configuration position setting unit 612 determines that the supply slot area S2 can be ensured in the first slots A1 and A2 of the target slot area T2. In addition, since the number of first slots A0 included in the first slots A5 and A6 is "2", which is greater than the number of first slots A0 required to accommodate the second tape box TB22, that is, "1", the configuration position setting unit 612 determines that the supply slot area S2 can be ensured in the first slots A5 and A6 of the target slot area T2. At this time, the configuration position setting unit 612 preferentially sets the area of ​​the first slots A1 and A2 and the first slots A5 and A6 that does not overlap with the recovery slot area C1 that has been set as a setting candidate for the supply slot area S2. That is, since the first slots A1 and A2 are set as the recovery slot region C1, the arrangement position setting unit 612 determines that the supply slot region S2 can be secured in the first slots A5 and A6.

[0186] When it is determined in the supply slot determination step that the supply slot area S2 can be secured in the first slots A5 and A6 of the target slot area T2, the arrangement position setting unit 612 executes a supply slot setting step of setting the supply slot area S2 in the first slots A5 and A6. At this time, the arrangement position setting unit 612 sets the supply slot area S2 in the first slots A5 and A6 so as to be aligned to the left as much as possible. Therefore, the first slot A5 is set as the supply slot S2.

[0187] Next, if Fig.12 As shown, the arrangement position setting unit 612 executes a target slot selection step of selecting a target slot area T3 from the first slots A1 to A13. The target slot area T3 is the first slots A1 to A10 that can be opposed to the installation slot area P3 (the second slots B4 to B7 of the carriage W1) in the second direction DR2.

[0188] When the object slot area T3 is selected, the configuration position setting unit 612 performs a recovery slot determination step of determining whether a recovery slot area C3 capable of accommodating the first tape box TB13 of size "4" can be ensured in the object slot area T3. Here, the configuration position setting unit 612 excludes the already set recovery slot areas C1 and C2 from the setting candidates of the recovery slot area C3. Specifically, since among the first slots A1 to A10 included in the object slot area T3, the first slots A1 and A2 are set as the recovery slot area C1, and the first slot A3 is set as the recovery slot area C3, the configuration position setting unit 612 excludes the first slots A1 to A3 from the setting candidate area of ​​the recovery slot area C3.

[0189] Here, as described in the description of the first action example, the supply robot 4 and the transport robot that transports the supply robot 4 perform operations in the order of the trolley W1, the trolley W2, and the trolley W3. That is, after the recovery operation of the first tape box TB13 from the trolley W1 (the third recovery operation), the supply operation of the second tape box TB22 to the trolley W2 (the second supply operation) is performed. Therefore, the configuration position setting unit 612 is set so that the recovery slot area C3 and the supply slot area S2 do not overlap. Specifically, the configuration position setting unit 612 also excludes the first slot A5, which is the supply slot area S2, from the area of ​​the setting candidate of the recovery slot area C3. Thereby, when the first tape box TB13 is recovered to the recovery slot area C3, it is possible to prevent the first tape box TB13 from interfering with the second tape box TB22 accommodated in the supply slot area S2.

[0190] That is, the configuration position setting unit 612 determines whether the recovery slot area C3 can be secured in the first slots A4 and A6 to A10. Since the number of first slots A0 included in the first slot A4 is "1", which is less than the number of first slots A0 required to accommodate the first tape box TB13, i.e., "4", the configuration position setting unit 612 determines that the recovery slot area C3 cannot be secured in the first slot A4 of the target slot area T3. In addition, since the number of first slots A0 included in the first slots A6 to A10 is "5", which is greater than the number of first slots A0 required to accommodate the first tape box TB13, i.e., "4", the configuration position setting unit 612 determines that the recovery slot area C3 can be secured in the first slots A6 to A10 of the target slot area T3.

[0191] When it is determined in the recovery slot determination step that the recovery slot area C3 can be secured in the first slots A6 to A10 of the target slot area T3, the configuration position setting unit 612 executes a recovery slot setting step of setting the recovery slot area C3 in the first slots A6 to A10. At this time, the configuration position setting unit 612 sets the recovery slot area C3 in the first slots A6 to A10 as left-aligned as possible. Therefore, the first slots A6 to A9 are set as the recovery slot area C3.

[0192] Next, the configuration position setting unit 612 performs a supply slot determination step of determining whether a supply slot area S3 capable of accommodating the second tape box TB23 of size "4" can be secured in the object slot area T3. Here, the configuration position setting unit 612 excludes the already set recovery slot area C3 and supply slot areas S1 and S2 from the setting candidates of the supply slot area S3. Specifically, among the first slots A1 to A10 included in the object slot area T3, the first slots A3 and A4 are set as the supply slot area S1, the first slot A5 is set as the supply slot area S2, and the first slots A6 to A9 are set as the recovery slot area C3. That is, the configuration position setting unit 612 excludes the first slots A3 to A9 from the area of ​​the setting candidates of the supply slot area S3. In other words, the configuration position setting unit 612 determines whether the supply slot area S3 can be secured in the first slots A1, A2, and A10. Here, since the number of first slots A0 included in the first slots A1 and A2 is "2", which is less than the number of first slots A0 required to accommodate the second tape box TB23, that is, "4", the configuration position setting unit 612 determines that the supply slot area S3 cannot be ensured in the first slots A1 and A2 of the target slot area T3. In addition, since the number of first slots A0 included in the first slot A10 is "1", which is less than the number of first slots A0 required to accommodate the second tape box TB23, that is, "4", the configuration position setting unit 612 determines that the supply slot area S3 cannot be ensured in the first slot A10 of the target slot area T3, and does not set the supply slot area S3.

[0193] Next, if Fig.13 As shown, the arrangement position setting unit 612 executes a target slot selection step of selecting a target slot area T4 from the first slots A1 to A13. The target slot area T4 is the first slots A5 to A13 that can be opposed to the installation slot area P4 (the second slots B8 to B10 of the carriage W1) in the second direction DR2.

[0194] When the object slot area T4 is selected, the configuration position setting unit 612 performs a recovery slot determination step of determining whether a recovery slot area C4 capable of accommodating the first tape box TB14 of size "3" can be ensured in the object slot area T4. Here, the configuration position setting unit 612 excludes the already set recovery slot areas C1 to C3 from the setting candidates of the recovery slot area C4. Specifically, since the first slots A6 to A9 are set as the recovery slot area C3 among the first slots A5 to A13 included in the object slot area T4, the configuration position setting unit 612 excludes the first slots A6 to A9 from the setting candidate area of ​​the recovery slot area C4. In other words, the configuration position setting unit 612 determines whether the recovery slot area C4 can be ensured in the first slots A5 and A10 to A13. Since the number of first slots A0 included in the first slot A5 is "1", which is less than the number of first slots A0 required to accommodate the first tape cartridge TB14, i.e., "3", the configuration position setting unit 612 determines that the recovery slot area C4 cannot be secured in the first slot A5 of the target slot area T4. In addition, since the number of first slots A0 included in the first slots A10 to A13 is "4", which is greater than the number of first slots A0 required to accommodate the first tape cartridge TB14, i.e., "3", the configuration position setting unit 612 determines that the recovery slot area C4 can be secured in the first slots A10 to A13 of the target slot area T4.

[0195] When it is determined in the recovery slot determination step that the recovery slot area C4 can be secured in the first slots A10 to A13 of the target slot area T4, the arrangement position setting unit 612 executes a recovery slot setting step of setting the recovery slot area C4 in the first slots A10 to A13. At this time, the arrangement position setting unit 612 sets the recovery slot area C4 in the first slots A10 to A13 as left-aligned as possible. Therefore, the first slots A10 to A12 are set as the recovery slot area C4.

[0196] Next, the configuration position setting unit 612 performs a supply slot determination step of determining whether a supply slot area S4 capable of accommodating the second tape box TB24 of size "3" can be secured in the target slot area T4. The supply robot 4 supplies the second tape box TB24 to the setting slot area P4 after recovering the first tape box TB14. Here, the configuration position setting unit 612 excludes the already set recovery slot area C4 and the supply slot areas S1 and S2 from the setting candidates of the supply slot area S4. Specifically, since among the first slots A5 to A13 included in the target slot area T4, the first slots A10 to A12 are set as the recovery slot area C4, and the first slot A5 is set as the supply slot area S2, the configuration position setting unit 612 excludes the first slots A5 and A10 to A12 from the setting candidate areas of the supply slot area S4. That is, the configuration position setting unit 612 determines whether the supply slot area S4 can be secured in the first slots A6 to A9 and A13. Here, since the number of first slots A0 included in the first slot A13 is "1", which is less than the number of first slots A0 required to accommodate the second tape cartridge TB24, namely "3", the configuration position setting unit 612 determines that the supply slot area S4 cannot be secured in the first slot A13 of the target slot area T4. In addition, since the number of first slots A0 included in the first slots A6 to A9 is "4", which is greater than the number of first slots A0 required to accommodate the second tape cartridge TB24, namely "3", the configuration position setting unit 612 determines that the supply slot area S4 can be secured in the first slots A6 to A9 of the target slot area T4.

[0197] When it is determined in the supply slot determination step that the supply slot area S4 can be secured in the first slots A6 to A9 of the target slot area T4, the arrangement position setting unit 612 executes a supply slot setting step of setting the supply slot area S4 in the first slots A6 to A9. At this time, the arrangement position setting unit 612 sets the supply slot area S4 in the first slots A6 to A9 so as to be aligned to the left as much as possible. Therefore, the first slots A6 to A8 are set as the recovery slot area C3.

[0198] Through the above-described processing, the recovery tank areas C1 to C4 and the supply tank areas S1 , S2 , and S4 are set in the first tanks A1 to A13 .

[0199] The configuration information generating unit 613 generates configuration information including the setting results of the recovery tank areas C1 to C4 and the supply tank areas S1, S2, and S4 (step ST10). As shown in Table 5, the configuration information includes the operation type information of the first to fourth operations that can be performed, the information of the target carriage, the size information of the tape cassette, the position information of the setting tank area, the position information of the recovery tank area, and the position information of the supply tank area.

[0200] [Table 5]

[0201]

[0202] Here, the first job, the second job, and the fourth job can respectively perform the recovery job and the supply job as specified in the overview information, and therefore the job type information is "recovery / supply". In addition, as described above, since the supply slot area S3 capable of accommodating the second tape cartridge TB23 cannot be ensured, the job type information of the third job is only "recovery". That is, the third job in the configuration information includes only the third recovery job.

[0203] The position information of the recovery tank area is the position information of the recovery tank areas C1 to C4 in the first tanks A1 to A13. The position information of the supply tank area is the position information of the supply tank areas S1, S2, and S4 in the first tanks A1 to A13.

[0204] When the arrangement information generation unit 613 generates the arrangement information, the second communication unit 65 transmits a response including the arrangement information to the first communication unit 73 of the management device 7 (step ST11 ).

[0205] When the first communication unit 73 receives the reply including the configuration information, the operation instruction unit 72 generates an operation instruction as information including the configuration information based on the configuration information (step ST12), and transmits the operation instruction to the second communication unit 65 of the second control device 6 via the first communication unit 73 (step ST13). The operation instruction is information for causing the supply robot 4 to perform the first operation (the first collection operation and the first supply operation), the second operation (the second collection operation and the second supply operation), the third operation (the third collection operation), and the fourth operation (the fourth collection operation and the fourth supply operation) that the supply robot 4 can perform.

[0206] When the second communication unit 65 receives the job instruction from the job instruction unit 72, the job order setting unit 614 determines the job order of the first job to the fourth job based on the configuration information (step ST14). The following describes the determination of the job order of the first job to the fourth job by the job order setting unit 614 in the second operation example.

[0207] When the second communication unit 65 receives the operation instruction from the operation instruction unit 72, the operation sequence setting unit 614 confirms the path sequence of the first operation to the fourth operation from the information of the target vehicle included in the configuration information. Here, the supply robot 4 and the transport robot that transports the supply robot 4 perform the operation in the order of the vehicle W1, the vehicle W2, and the vehicle W3. That is, the path sequence of the operation performed on the vehicle W1 is "1", the path sequence of the operation performed on the vehicle W2 is "2", and the path sequence of the operation performed on the vehicle W3 is "3". That is, since the target vehicle of the first operation, the third operation, and the fourth operation is the vehicle W1, the operation sequence setting unit 614 determines that the path sequence of the first operation, the third operation, and the fourth operation is "1". In addition, since the target vehicle of the second operation is the vehicle W2, the operation sequence setting unit 614 determines that the path sequence of the second operation is "2". That is, the order of the second operation is after the first operation, the third operation, and the fourth operation.

[0208] Next, the operation sequence setting unit 614 studies the operation sequence for two operations (the first comparison object operation corresponding to the setting slot area P0 on the left and the second comparison object operation corresponding to the setting slot area P0 on the right) adjacent in the left-right direction of the corresponding setting slot area P0 among the first operation, the third operation, and the fourth operation with a path sequence of "1". The operation sequence setting unit 614 determines whether the recovery slot area C0 set corresponding to the first comparison object operation and the supply slot area S0 set corresponding to the second comparison object operation are repeated. In the case where the recovery slot area C0 set corresponding to the first comparison object operation and the supply slot area S0 set corresponding to the second comparison object operation do not overlap, the operation sequence setting unit 614 sets the operation sequence of the first comparison object operation before the operation sequence of the second comparison object operation. In addition, in the case where the recovery slot area C0 set corresponding to the first comparison object operation and the supply slot area S0 set corresponding to the second comparison object operation overlap, the operation sequence setting unit 614 sets the operation sequence of the second comparison object operation before the operation sequence of the first comparison object operation. Furthermore, the operation order setting unit 614 starts comparing the operation orders starting from the first comparison target operation and the second comparison target operation located near the left end of the installation slot area P0.

[0209] Specifically, the operation sequence setting unit 614 considers the operation sequence for the first operation corresponding to the setting slot area P1 and the third operation corresponding to the setting slot area P3 on the right side of the setting slot area P1. Fig.13As shown, the recovery tank area C1 corresponding to the first operation is set to the first tank A1 and A2, and the supply tank area S3 corresponding to the third operation is not set. Therefore, in the second operation example, since the recovery tank area C1 and the supply tank area S3 do not overlap, the operation sequence setting unit 614 sets the operation sequence of the first operation before the operation sequence of the third operation.

[0210] Next, the operation sequence setting unit 614 considers the operation sequence for the third operation corresponding to the setting slot area P3 and the fourth operation corresponding to the setting slot area P4 on the right side of the setting slot area P3. Fig.13 As shown, the recovery tank area C3 corresponding to the third operation is set to the first slots A6 to A9, and the supply tank area S4 corresponding to the fourth operation is set to the first slots A6 to A8. Therefore, in the second operation example, since the recovery tank area C3 overlaps with the supply tank area S4, the operation sequence setting unit 614 sets the operation sequence of the fourth operation before the operation sequence of the third operation. In other words, after the supply operation of the second tape cassette TB24, the recovery of the first tape cassette TB13 is performed. Thus, after the supply of the second tape cassette TB24, the first tape cassette TB13 can be recovered to the recovery tank area C3 (first slots A6 to A9) including the empty supply tank area S4 (first slots A6 to A8).

[0211] Through the above processing, the operation order of the first operation, the third operation, and the fourth operation with the path order of "1" is determined. Specifically, the operation order of the first operation is set to "1", the operation order of the fourth operation is set to "2", and the operation order of the third operation is set to "3".

[0212] Next, the job order setting unit 614 sets the job order of the second job having the path order “2” to “4”.

[0213] When the job order setting unit 614 determines the job order of the first to fourth jobs, the arrangement information generating unit 613 generates the modified arrangement information in which the job order of the first to fourth jobs is added to the arrangement information as shown in Table 6 (step ST15 ).

[0214] [Table 6]

[0215]

[0216] When the corrected configuration information is generated by the configuration information generating unit 613, the transport robot control unit 63 generates a transport control signal for transporting the supply robot 4 to the trolley W1 which is the object trolley for the first operation, the third operation, and the fourth operation based on the corrected configuration information (step ST16), and sends it to the transport robot 9 via the second communication unit and the relay AP1 (step ST17).

[0217] When receiving the transport control signal from the transport robot control unit 63, the transport robot 9 transports the supply robot 4 to the parts warehouse. When the second tape cassettes TB21, TB22, and TB24 are respectively accommodated in the supply slot areas S1, S2, and S4 of the supply robot 4 in the parts warehouse, the transport robot 9 transports the supply robot 4 to the carriage W1 so as to be in the first state in which the first slot A1 and the second slot B1A are opposed to each other in the second direction (step ST18).

[0218] When the supply robot 4 is transferred to the carriage W1 , the transfer robot 9 transmits a transfer completion signal to the second control device 6 (step ST19 ).

[0219] When receiving the transport completion signal, the supply robot control unit 62 generates a supply control signal for the supply robot 4 to perform the first operation, the third operation, and the fourth operation based on the corrected configuration information (step ST20), and sends it to the supply robot 4 via the second communication unit and the relay machine AP1 (step ST21).

[0220] When receiving the supply control signal from the supply robot control unit 62, the supply robot 4 starts executing the first operation, the third operation, and the fourth operation (step ST22). Figure 4 .

[0221] First, the supply robot 4 is in the first state (see FIG. 1 ) in the second operation example in which the setting tank area P1 and the collection tank area C1 are opposed to each other in the second direction (front-rear direction). Fig.13 ), the first tape cassette TB11 accommodated in the setting slot area P1 is recovered to the recovery slot area C1. That is, the supply robot 4 performs the first recovery operation included in the first operation.

[0222] Next, the supply robot 4 moves the first slots A1 to A13 to the left until the second state in which the first slot A1 overlaps the movable region M2 is reached. Fig.13 The state shown is a state in which the device has been slid to the left by a distance of two first grooves A0. In the second state, the supply groove area S1 and the setting groove area P1 are opposed to each other in the second direction (front-rear direction).

[0223] In the second state, the supply robot 4 supplies the second tape cassette TB21 accommodated in the supply slot area S1 to the installation slot area P1. That is, the supply robot 4 performs the first supply operation included in the first operation.

[0224] Next, the supply robot 4 recovers the first tape cartridge TB14 stored in the set slot area P4 to the recovery slot area C4 in the second state. That is, the supply robot 4 performs the fourth recovery operation included in the fourth operation.

[0225] Next, the supply robot 4 moves the first slots A1 to A13 to the right until the third state in which the first slot A13 overlaps the movable region M5 is reached. The third state in the second operation example is when the first slots A1 to A13 overlap the movable region M5. Fig.13 The state shown is a state in which the supply groove area S4 and the setting groove area P4 are opposed to each other in the second direction.

[0226] In the third state, the supply robot 4 supplies the second tape cassette TB24 accommodated in the supply slot area S4 to the setting slot area P4. That is, the supply robot 4 performs the fourth supply operation included in the fourth operation.

[0227] Next, the supply robot 4 moves the first tanks A1 to A13 to the left until the second state is reached. In the second state, the recovery tank area C3 and the setting tank area P3 face each other in the front-rear direction.

[0228] In the second state, the supply robot 4 recovers the first tape cartridge TB13 stored in the set slot area P3 to the recovery slot area C3. That is, the supply robot 4 performs the third recovery operation included in the third operation.

[0229] When the first, third and fourth operations are completed, the transport robot control unit 63 generates a transport control signal for transporting the supply robot 4 to the trolley W2 which is the target trolley for the second operation based on the corrected configuration information, and sends it to the transport robot 9 via the second communication unit and the relay AP1.

[0230] When receiving the transfer control signal from the transfer robot control unit 63 , the transfer robot 9 transfers the supply robot 4 to the carriage W2 such that the first slot A1 of the supply robot 4 and the second slot B1 of the carriage W2 face each other in the second direction.

[0231] When the supply robot 4 is transferred to the carriage W2 , the transfer robot 9 transmits a transfer completion signal to the second control device 6 .

[0232] When receiving the transfer completion signal, the supply robot control unit 62 generates a supply control signal for causing the supply robot 4 to execute the second task based on the corrected arrangement information, and transmits the signal to the supply robot 4 via the second communication unit and the relay AP1 .

[0233] When receiving the supply control signal from the supply robot control unit 62 , the supply robot 4 starts executing the second task.

[0234] First, the supply robot 4 is in a fourth state where the setting tank area P2 and the recovery tank area C2 are opposed to each other in the second direction (see Fig.11 ), the first tape box TB12 accommodated in the setting slot area P2 is recovered to the recovery slot area C2. That is, the supply robot 4 performs the second recovery operation included in the second operation.

[0235] Next, the supply robot 4 moves the first slots A1 to A13 to the left until the fifth state is reached in which the first slot A1 overlaps the movable region M2. The fifth state is when the first slots A1 to A13 are Fig.11 The state shown is a state in which the supply groove area S2 and the setting groove area P2 are opposed to each other in the second direction.

[0236] In the fifth state, the supply robot 4 supplies the second tape cassette TB22 stored in the supply slot area S2 to the setting slot area P2. That is, the supply robot 4 performs the second supply operation included in the second operation.

[0237] (3) Modification

[0238] The above embodiment is only one of various embodiments of the present disclosure. As long as the above embodiment can achieve the purpose of the present disclosure, various changes can be made according to the design, etc. In addition, the same function as the component supply system 2 can also be embodied by a control method, a computer program, or a non-temporary recording medium with a program recorded thereon.

[0239] The control method involved in the above-mentioned embodiment is a control method for a supply robot that performs at least one of a recovery operation and a supply operation, wherein the recovery operation recovers the first tape cassette TB1, which is an empty tape cassette taken out as the target component E1, from the trolley W0, and the supply operation supplies the second tape cassette TB2, which is a tape cassette holding the target component E1, to the trolley W0. The control method includes a request sending step, a request answering step, a work instruction step, and a robot control step. In the request sending step, a request for sending an answer including configuration information is sent, and the configuration information is information about the configuration position of at least one of the first tape cassette TB1 after being recovered from the trolley W0 and the second tape cassette TB2 before being supplied to the trolley W0 in the supply robot 4. In the request answering step, according to the request sent in the request sending step, an answer including configuration information is sent, and the configuration information is information about the configuration position of at least one of the first tape cassette TB1 after being recovered from the trolley W0 and the second tape cassette TB2 before being supplied to the trolley W0 in the supply robot 4. In the operation instruction step, based on the configuration information about the configuration position of at least one of the first tape box TB1 after being recovered from the trolley W0 and the second tape box TB2 before being supplied to the trolley W0 in the supply robot 4, an operation instruction is sent to cause the supply robot 4 to perform an operation including at least one of the recovery operation of recovering the first tape box TB1 from the trolley W0 and the supply operation of supplying the second tape box TB2 to the trolley W0. In the robot control step, based on the operation instruction sent in the operation instruction step, the supply robot 4 is caused to perform an operation including at least one of the recovery operation of recovering the first tape box TB1 from the trolley W0 and the supply operation of supplying the second tape box TB2 to the trolley W0. In addition, the (computer) program involved in the above-mentioned embodiment is a program for causing a computer system to execute the above-mentioned control method.

[0240] The following lists the modified examples of the above-mentioned embodiment. The modified examples described below can be applied in combination as appropriate. However, the same reference symbols are given to the structural elements common to the component supply system 2 of the above-mentioned embodiment, and their description is appropriately omitted. In addition, each structure of the modified example described below can be applied in combination as appropriate with each structure described in the above-mentioned embodiment.

[0241] (3.1) Modification 1

[0242] In the present modification, the list information generating unit 711 generates the list information as shown in Table 7 based on the status information including the information of the first tape cartridges TB11 to TB16 .

[0243] [Table 7]

[0244]

[0245] The list information shown in Table 7 (hereinafter referred to as the second list information) is a list information in which the recovery operation and the supply operation, which are regarded as one operation in the list information shown in Table 1 (hereinafter referred to as the first list information) in the above embodiment, are separated as independent operations. In the second list information, if the recovery operation and the supply operation corresponding to the same target component are, the priority of the recovery operation is set higher.

[0246] In the present modification, the second control device 6 selects an executable task from among the first task to the twelfth task based on the second list information.

[0247] First, the second control device 6 determines whether the job (first job) with the highest priority among the first to twelfth jobs can be executed (adopted). In addition, as an initial state, the first to twelfth jobs are given an "adoption undetermined" state.

[0248] Specifically, the second control device 6 assigns the “examination” state to the first task. Next, the second control device 6 examines whether the first task having the “examination” state is executable.

[0249] If the first operation can be performed, the second control device 6 sets the first operation to an "adopted" state. If the first operation cannot be performed, the second control device 6 sets the first operation to a "not adopted" state. Here, it is assumed that the first operation is set to an "adopted" state.

[0250] Next, the second control device 6 assigns the "review" status to the second job, which has the second highest priority after the first job. Furthermore, the second control device 6 examines whether the first job with the "adopt" status and the second job with the "review" status can be executed. In the future, similarly, the "adopt" or "not adopt" status is assigned to the jobs with higher priority, and the processing continues until the first to twelfth jobs are assigned the "adopt" status or the "not adopt" status, respectively.

[0251] This can shorten the processing time compared to the case where all combinations of jobs (combinations of jobs in each case when the number of executable jobs is 12 to 0) are examined in order for executableness from the first to twelfth jobs.

[0252] (3.2) Other variations

[0253] The component supply system 2 in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The function of the component supply system 2 in the present disclosure is realized by executing the program recorded in the memory of the computer system through the processor. The program can be pre-recorded in the memory of the computer system, provided through an electrical communication line, or recorded in a non-temporary recording medium such as a memory card, an optical disk, a hard disk drive, etc. that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI mentioned here are called differently according to the degree of integration, including integrated circuits called system LSI, VLSI (Very Large Scale Integration: Very Large Scale Integrated Circuit), or ULSI (Ultra Large Scale Integration: Ultra Large Scale Integrated Circuit). Furthermore, FPGA (Field-Programmable Gate Array: Field Programmable Gate Array) that can be programmed after the manufacture of LSI, or a logic device that can reconstruct the bonding relationship inside LSI or reconstruct the circuit division inside LSI can also be used as a processor. A plurality of electronic circuits may be concentrated on one chip or dispersedly arranged on a plurality of chips. A plurality of chips may be concentrated on one device or dispersedly arranged on a plurality of devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also constituted by one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

[0254] The first control device 5 and the second control device 6 do not necessarily need to be accommodated in different housings, and the first control device 5 and the second control device 6 may be accommodated in one housing.

[0255] (4) Summary

[0256] As described above, the component supply system (2) involved in the first embodiment includes a supply robot (4), a control device (6) for controlling the supply robot (4), and a management device (7) capable of communicating with the control device (6). The supply robot (4) performs at least one of a recovery operation of recovering the first tape box (TB1) as an empty tape box taken out as the target component (E1) from the trolley (W0) and a supply operation of supplying the second tape box (TB2) as the tape box holding the target component (E1) to the trolley (W0). The management device (7) has a request sending unit (71) and an operation instruction unit (72). The request sending unit (71) sends a request to the control device (6) for causing the control device (6) to send a response including configuration information. The configuration information is information about the configuration position of at least one of the first tape box (TB1) after recovery from the trolley (W0) and the second tape box (TB2) before supply to the trolley (W0) in the supply robot (4). The operation instruction unit (72) sends an operation instruction for causing the supply robot (4) to perform an operation to the control device (6) based on the configuration information. The control device (6) includes: a request answering unit (61) that sends an answer to the management device (7) based on the request sent from the request sending unit (71); and a supply robot control unit (62) that causes the supply robot (4) to perform the operation based on the operation instruction sent from the operation instruction unit (72).

[0257] According to this method, based on the automatically generated configuration information, the supply robot (4) performs at least one of the operations including the recovery operation of the first tape box (TB1) and the supply operation of the second tape box (TB2), thereby achieving the efficiency of the tape box recovery operation and the supply operation, that is, the efficiency of the operations related to the tape boxes.

[0258] In the component supply system (2) according to the second aspect, in the first aspect, the arrangement information includes information on the availability of at least one of the collection of the first tape cassette (TB1) and the supply of the second tape cassette (TB2).

[0259] According to this aspect, it is possible to automatically determine whether or not at least one of the recovery operation of the first tape cartridge (TB1) and the supply operation of the second tape cartridge (TB2) specified by the list information can be executed.

[0260] In the component supply system (2) involved in the third embodiment, in the first embodiment or the second embodiment, a plurality of first slots (A0) capable of accommodating tape boxes are arranged in the supply robot (4). A plurality of second slots (B0) capable of accommodating tape boxes are arranged in the cart (W0). In a recovery operation, the supply robot (4) recovers the first tape box (TB1) accommodated in the setting slot area (P0) among the plurality of second slots (B0) to the recovery slot area (C0) among the plurality of first slots (A0). In a supply operation, the supply robot (4) supplies the second tape box (TB2) accommodated in the supply slot area (S0) among the plurality of first slots (A0) to the setting slot area (P0). The operation instruction unit (72) sends an operation instruction for causing the supply robot (4) to perform a plurality of operations corresponding to the plurality of target components (E1). The operation object of each of the plurality of operations is any one of the target carts among the plurality of carts (W0). The configuration information includes information about a recovery slot area (C0) where a first tape cassette (TB1) as a recovery target in a recovery operation is recovered, and a supply slot area (S0) where a second tape cassette (TB2) as a supply target in a supply operation is accommodated. The request answering unit (61) generates the configuration information based on information about priorities set for a plurality of operations, information about target carts as operation targets of each of the plurality of operations, size information of tape cassettes corresponding to the plurality of operations, position information of a setting slot area (P0) in a plurality of second slots (B0) corresponding to the plurality of operations, and at least one of operation type information. The operation type information is information indicating whether each of the plurality of operations includes a recovery operation and a supply operation, includes only a recovery operation, or includes only a supply operation.

[0261] According to this method, based on the automatically generated configuration information, the supply robot (4) performs at least one of the operations including the recovery operation of the first tape box (TB1) and the supply operation of the second tape box (TB2), thereby achieving the efficiency of the tape box recovery operation and the supply operation, that is, the efficiency of the operations related to the tape boxes.

[0262] In the component supply system (2) involved in the fourth embodiment, in the third embodiment, during the process of generating configuration information, when it is determined that the first tape box (TB1) which is a recycling object in a recycling operation included in a plurality of operations and the second tape box (TB2) which is a supply object in a supply operation included in a plurality of operations cannot be configured in a plurality of first slots (A0), the request response unit (61) generates configuration information based on priority information of operations excluding the lowest priority operation among the plurality of operations, information on the object trolley, size information on the tape box, position information on the setting slot area (P0), and at least one of the operation type information.

[0263] According to this aspect, the task to be performed by the supply robot (4) can be determined based on the priorities set for each of the plurality of tasks.

[0264] The configuration determination method involved in the fifth embodiment is a configuration determination method for a tape cassette in a component supply system (2) of any one of the first to fourth embodiments. The configuration determination method includes a target slot selection step, a recovery slot determination step, and a recovery slot setting step. In the target slot selection step, a target slot area (T0) of a first slot (A0) that is a part of the first slot (A0) that can be opposed to a setting slot area (P0) in a second direction (DR2) intersecting the first direction (DR1) is selected from a plurality of first slots (A0) arranged along a first direction (DR1) of a supply robot (4). The setting slot area (P0) is a second slot (B0) that accommodates a part of a first tape cassette (TB1) among a plurality of second slots (B0) of a carriage (W0). The plurality of first slots (A0) can move within a given range in the first direction (DR1). In the recovery slot determination step, it is determined whether a recovery slot area (C0) that can accommodate the first tape cassette (TB1) can be ensured in the target slot area (T0). In the recovery slot setting step, if it is determined in the recovery slot determination step that the recovery slot area (C0) can be secured, the recovery slot area (C0) is set in the target slot area (T0). The supply robot (4) recovers the first tape cassette (TB1) in a state where the setting slot area (P0) and the recovery slot area (C0) are opposed to each other in the second direction (DR2).

[0265] According to this method, since it is possible to automatically determine whether the recovery slot area (C0) in the target slot area (T0) can be ensured and set the recovery slot area (C0) in the target slot area (T0), it is possible to improve the efficiency of the recovery operation of the first tape box (TB1).

[0266] The control method involved in the sixth aspect is a control method for a supply robot (4). The supply robot (4) performs at least one of a recovery operation of recovering a first tape cassette (TB1) as an empty tape cassette taken out as an object component (E1) from a trolley (W0) and a supply operation of supplying a second tape cassette (TB2) as a tape cassette holding the object component (E1) to the trolley (W0). The control method includes a request sending step, a request answering step, a work instruction step, and a supply robot control step. In the request sending step, a request for sending a reply including configuration information is sent, and the configuration information is information about the configuration position of at least one of the first tape cassette (TB1) after being recovered from the trolley (W0) and the second tape cassette (TB2) before being supplied to the trolley (W0) in the supply robot (4). In the request answering step, a reply is sent according to the request sent in the request sending step. In the work instruction step, a work instruction for causing the supply robot (4) to perform the work is sent based on the configuration information. In the supply robot control step, the supply robot (4) is caused to perform a task based on the task instruction sent in the task instruction step.

[0267] According to this method, based on the automatically generated configuration information, the supply robot (4) performs at least one of the operations including the recovery operation of the first tape box (TB1) and the supply operation of the second tape box (TB2), thereby achieving the efficiency of the tape box recovery operation and the supply operation, that is, the efficiency of the operations related to the tape boxes.

[0268] A management device (7) according to a seventh aspect is used in the component supply system (2) according to any one of the first to fourth aspects.

[0269] According to this method, based on the automatically generated configuration information, the supply robot (4) performs at least one of the operations including the recovery operation of the first tape box (TB1) and the supply operation of the second tape box (TB2), thereby achieving the efficiency of the tape box recovery operation and the supply operation, that is, the efficiency of the operations related to the tape boxes.

[0270] A supply robot (4) according to an eighth aspect is used in the component supply system (2) according to any one of the first to fourth aspects.

[0271] According to this method, based on the automatically generated configuration information, the supply robot (4) performs at least one of the operations including the recovery operation of the first tape box (TB1) and the supply operation of the second tape box (TB2), thereby achieving the efficiency of the tape box recovery operation and the supply operation, that is, the efficiency of the operations related to the tape boxes.

[0272] Explanation of symbols

[0273] 2 Component supply system

[0274] 4 Supply Robot

[0275] 6 Control device

[0276] 7 Management Devices

[0277] 61 Request for reply

[0278] 62 Supply robot control unit

[0279] 71 Request sending unit

[0280] 72 Operation Instruction Department

[0281] A0 Slot 1

[0282] B0 Slot 2

[0283] C0 Recycling Tank Area

[0284] DR1 Direction 1

[0285] DR2 Direction 2

[0286] P0 Set slot area

[0287] S0 Supply tank area

[0288] T0 Object Slot Area

[0289] TB1 1st tape box

[0290] TB2 2nd tape box

[0291] W0 trolley.

Claims

1. A component supply system comprising: a supply robot that performs at least one of a recovery operation of recovering a first tape cassette that is an empty tape cassette taken out as a target component from a trolley and a supply operation of supplying a second tape cassette that is the tape cassette holding the target component to the trolley; A control device for controlling the supply robot; and a management device capable of communicating with the control device, The management device comprises: a request sending unit that sends a request to the control device for causing the control device to send a response including configuration information, the configuration information being information about a configuration position in the supply robot of at least one of the first tape cassette after being recovered from the trolley and the second tape cassette before being supplied to the trolley; and a work instruction unit that sends a work instruction for causing the supply robot to perform the work to the control device based on the configuration information, The control device has: a request answering unit that sends the answer to the management device according to the request sent from the request sending unit; and The supply robot control unit causes the supply robot to execute the work based on the work instruction transmitted from the work instruction unit.

2. The component supply system according to claim 1, wherein: The arrangement information includes information on whether or not at least one of the collection of the first tape cassette and the supply of the second tape cassette is permitted.

3. The component supply system according to claim 1 or 2, wherein: A plurality of first slots capable of accommodating the tape cassettes are arranged in the supply robot. A plurality of second slots capable of accommodating the tape cassettes are arranged in the carriage. In the recovery operation, the supply robot recovers the first tape cassette accommodated in the setting slot area among the plurality of second slots to the recovery slot area among the plurality of first slots, In the supply operation, the supply robot supplies the second tape cassette accommodated in the supply slot area among the plurality of first slots to the setting slot area, The operation instruction unit sends the operation instructions for causing the supply robot to execute the plurality of operations respectively corresponding to the plurality of target parts. The operation object of each of the plurality of operations is any one of the plurality of vehicles. The configuration information includes information about the recovery slot area where the first tape cassette, which is a recovery target in the recovery operation, is recovered, and the supply slot area where the second tape cassette, which is a supply target in the supply operation, is accommodated. The request response unit generates the configuration information based on the priority information set for the plurality of jobs, the information of the object trolley which is the job object of each of the plurality of jobs, the size information of the tape boxes corresponding to the plurality of jobs, the position information of the setting slot areas in the plurality of second slots corresponding to the plurality of jobs, and at least one of the job type information. The operation type information is information indicating whether each of the plurality of operations includes the collecting operation and the supplying operation, includes only the collecting operation, or includes only the supplying operation.

4. The component supply system according to claim 3, wherein: During the process of generating the configuration information, when it is determined that the first tape box, which is the recycling object in the recycling operation included in the multiple operations, and the second tape box, which is the supply object in the supply operation included in the multiple operations, cannot be configured in the multiple first slots, the request response unit generates the configuration information based on the priority information of the operations excluding the operation with the lowest priority among the multiple operations, the information of the object trolley, the size information of the tape box, the position information of the setting slot area, and at least one of the operation type information.

5. A method for determining a configuration, which is a method for determining a configuration of the tape cassette in the component supply system according to any one of claims 1 to 4, comprising: An object slot selection step of selecting, from among the plurality of first slots of the supply robot having a plurality of first slots arranged along a first direction and capable of moving within a given range in the first direction, an object slot area as a portion of the first slot capable of being opposed to a setting slot area in a second direction intersecting the first direction, the setting slot area being a second slot in which a portion of the first tape cassette is accommodated among the plurality of second slots of the carriage; a recovery slot determination step of determining whether a recovery slot area capable of accommodating the first tape cartridge can be ensured in the target slot area; and a recovery slot setting step of setting the recovery slot area in the target slot area when it is determined in the recovery slot determination step that the recovery slot area can be secured, The supply robot recovers the first tape cassette in a state where the installation slot area and the recovery slot area are opposed to each other in the second direction.

6. A control method for a supply robot that performs at least one of a recovery operation of a first tape cassette that is an empty tape cassette taken out as a target component from a carriage and a supply operation of a second tape cassette that is the tape cassette holding the target component to the carriage, comprising: a request sending step for sending a request for causing a response including configuration information to be sent, the configuration information being information on a configuration position in the supply robot of at least one of the first tape cassette after being retrieved from the trolley and the second tape cassette before being supplied to the trolley; a request answering step of sending the answer according to the request sent in the request sending step; A work instruction step of sending a work instruction for causing the supply robot to perform the work based on the configuration information; and The supply robot control step causes the supply robot to execute the work based on the work instruction sent in the work instruction step.

7. A management device used in the component supply system according to any one of claims 1 to 4.

8. A supply robot used in the component supply system according to any one of claims 1 to 4.

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