Tray processing device

Abstract

The tray processing apparatus according to the present invention processes a tray for supplying a component to a component mounting apparatus for mounting a component on a substrate, the tray processing apparatus comprising: a pallet storage unit for supplying a pallet; and a tray mounting unit that mounts a tray in which a component is housed on the supplied pallet.

Description

[0001] This application is a divisional application of the invention patent application with the application date of November 4, 2020, application number 202080097216.8, and invention name “Pallet processing device and pallet processing method”. Technical Field

[0002] The present invention relates to a tray handling device. Background Art

[0003] A tray feeder is known that supplies components stored in a tray to a component assembly device. The tray is mounted on a dedicated pallet, and the pallet with the tray mounted is stored in a material box. The tray feeder takes out a required tray from the material box together with the pallet, and supplies the components stored in the tray to the component assembly device (for example, Patent Document 1). By using a pallet, pallets of various sizes and shapes can be processed.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2015-56414 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, conventionally, the work of attaching the pallet to the pallet has to be done manually, and automation has not been achieved.

[0009] An object of the present invention is to provide a pallet handling device and a pallet handling method for automatically mounting a pallet on a pallet.

[0010] Solutions to Solve Problems

[0011] The pallet processing device of the present invention processes a pallet recovered from a component assembly device that assembles components stored in the pallet on a substrate, wherein the pallet processing device comprises: a pallet recovery unit that takes out the pallet assembled with the pallet from a material box recovered from the component assembly device; and a pallet disassembly unit that disassembles the pallet from the recovered pallet.

[0012] The pallet processing device of the present invention processes a pallet for supplying components to a component mounting device for mounting components on a substrate, wherein the pallet processing device comprises: a pallet storage unit that supplies a pallet; and a pallet mounting unit that mounts a pallet storing components on the supplied pallet.

[0013] The pallet processing device of the present invention processes a pallet used to supply components to a component assembly device that assembles the components on a substrate, wherein the pallet processing device comprises: a pallet disassembly unit that removes the pallet from a pallet recovered from the component assembly device; and a pallet assembly unit that assembles the pallet containing the components on the pallet.

[0014] The pallet processing method of the present invention processes a pallet used to supply components to a component assembly device that assembles the components on a substrate, wherein the pallet processing method comprises: a pallet disassembly process of removing the pallet from a pallet recovered from the component assembly device; and a pallet assembly process of assembling the pallet storing the components on the pallet from which the pallet has been removed.

[0015] Effects of the Invention

[0016] According to the present invention, the tray can be automatically mounted on the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram showing an example of the overall configuration of the tray processing apparatus according to the present embodiment, and is a diagram in which the tray processing apparatus is viewed from above.

[0018] Figure 2 It is a schematic diagram showing a configuration example of a component mounting device and a tray component supply device.

[0019] Figure 3 It is a perspective view showing a structural example of a tray and a pallet.

[0020] Figure 4 This is a perspective view showing an example of a state in which the tray is positioned relative to the pallet.

[0021] Figure 5 It is a perspective view showing a structural example of a tank.

[0022] Figure 6 It is a schematic diagram showing a structural example of a pallet collecting unit.

[0023] Fig. 7A This is a schematic diagram showing an example of a state before the pallet push-out device pushes out the pallet in the magazine.

[0024] Figure 7B This is a schematic diagram showing an example of a state in which the pallet push-out device pushes out the pallet in the magazine.

[0025] Figure 8 It is a schematic diagram showing a structural example of a tray removal portion.

[0026] Fig. 9 It is a perspective view of the main parts showing a structural example of the tray removal portion.

[0027] Fig. 10A It is a perspective view showing a structural example of a magnetic rod.

[0028] Fig. 10B It is a longitudinal cross-sectional view in the long-side direction showing a structural example of a magnetic rod.

[0029] Fig.11 It is a perspective view showing a structural example of a magnetic rod transfer head.

[0030] Fig.12 This is a diagram illustrating the operation of the magnetic rod transfer head.

[0031] Fig.13 It is a schematic diagram showing a structural example of a tray mounting portion.

[0032] Fig.14 It is a main part perspective view showing a structural example of a tray mounting portion.

[0033] Fig.15 It is a perspective view of the main parts showing a configuration example of the information writing section and the pallet feeding section.

[0034] Fig.16 This is a diagram showing a modified example of the overall structure of the tray processing apparatus according to the present embodiment, and is a diagram in which the tray processing apparatus is viewed from above.

[0035] Description of Reference Numerals

[0036] 10 Component assembly device; 11 Substrate conveying unit; 12 Component assembly head; 13 Substrate; 20 Pallet component supply device; 21 Pallet moving device; 30 Pallet; 31 Recess; 40 Pallet; 41 Pallet main body; 42A, 42B Pallet positioning piece; 43 Engagement unit; 44 Wireless tag; 50 Material box; 51 Support rail; 52 Bottom plate; 53 Top plate; 54A Left side plate; 54B Right side plate; 60 AGV; 70 Magnetic rod; 71 Main body; 72 Magnetic body; 73 Recess; 74A, 74B Rod; 75 Shaft; 90 Server; 100 Pallet handling device; 110, 111 Conveyor; 200 Pallet recovery unit; 210 Material box conveying device; 211 XY table; 212 End effector; 220 Pallet recovery station; 230 driving unit; 240 pallet ejection device; 241 pusher; 300 pallet disassembly unit; 310 pallet removal unit; 311 XY table; 312 lifting unit; 313 pallet suction head; 320 magnetic rod removal device; 321 XY table; 322 Z table; 323 magnetic rod transfer head; 324 holding unit; 325A, 325B rod operation unit; 326A, 326B pin; 327A, 327B rod; 330 pallet recovery unit; 400 pallet assembly unit; 410 pallet transfer unit; 411 XY table; 412 lifting unit; 413 pallet transfer head; 420 magnetic rod moving device; 421 XY table; 422 Z table; 423 magnetic rod transfer head; 430 pallet storage unit; 500 Information writing unit; 501 wireless communication unit; 600 pallet sending unit; 601 pallet transfer robot; 700 pallet storage unit; 701 storage rack; 702 pallet handling robot. DETAILED DESCRIPTION

[0037] Hereinafter, the embodiments of the present invention will be described in detail with reference to the accompanying drawings as appropriate. However, sometimes the detailed descriptions above the necessary level are omitted. For example, sometimes the detailed descriptions of the already known matters and the repeated descriptions of the substantially same structures are omitted. This is to avoid the following description from becoming unnecessarily redundant and to make it easy for those skilled in the art to understand. It should be noted that the accompanying drawings and the following descriptions are provided to enable those skilled in the art to fully understand the present invention, and are not intended to limit the subject matter recorded in the technical solution by these. It should be noted that in the description of each of the accompanying drawings, the axis from the top to the bottom of the paper is set as the X-axis, the axis from the left to the right of the paper is set as the Y-axis, and the axis from the inner side of the paper to the near front side is set as the Z-axis. In addition, the positive direction of the X-axis is called "front", the negative direction of the X-axis is called "back", the positive direction of the Y-axis is called "right", the negative direction of the Y-axis is called "left", the positive direction of the Z-axis is called "up", and the negative direction of the Z-axis is called "down". It should be noted that the descriptions of these directions are used for the convenience of explanation and are not intended to limit the posture of the structure when it is actually used.

[0038] (Present Implementation Method)

[0039] <Overall structure of the pallet handling device>

[0040] Figure 1 1 is a diagram showing an example of the overall structure of the tray processing device 100 according to the present embodiment, and is a diagram obtained by looking down on the tray processing device 100 from above. Figure 1 The outline of the structure of the tray processing apparatus 100 will be described.

[0041] A component mounting device 10 (see Figure 2 ), and a tray component supply device 20 (refer to Figure 2 )( Figure 1 Not shown in the figure). The pallet component supply device 20 may also be referred to as a pallet feeder or other term. The pallet 30 is mounted on a dedicated pallet 40. The pallet 40 mounted with the pallet 30 is stored in a material box 50. The material box 50 is delivered to a specified location by an AGV 60 traveling in the factory. The AGV 60 may also be referred to as an unmanned guided vehicle or other term. It should be noted that the details of the component assembly device 10 and the pallet component supply device 20 will be described later (see Figure 2 ).

[0042] The pallet processing device 100 of the present embodiment is installed in a factory and processes the pallet 30. Specifically, the pallet processing device 100 is a device that automatically performs a process of removing the pallet 30 from the pallet 40 or attaching the pallet 30 to the pallet 40.

[0043] The tray processing apparatus 100 includes a conveyor 110 , a pallet collecting unit 200 , a pallet removing unit 300 , a pallet attaching unit 400 , an information writing unit 500 , and a pallet sending unit 600 .

[0044] For example, the AGV 60 collects the material box 50 storing the pallet 40 on which the pallet 30 equipped with the supplied components is stored from the pallet component supply device 20, and delivers the material box 50 to the location of the pallet recovery unit 200. Hereinafter, the pallet 40 equipped with the pallet 30 is referred to as the pallet assembly pallet 40. It should be noted that the pallet 30 in the pallet assembly pallet 40 may or may not store components.

[0045] The pallet recovery unit 200 is a device and area for recovering the pallet assembly pallet 40 from the material box 50 delivered by the AGV 60 and placing the recovered pallet assembly pallet 40 on the conveyor 110. It should be noted that the details of the pallet recovery unit 200 will be described later (see Figure 5 ).

[0046] The pallet removal unit 300 is a device and an area for removing the pallet 30 from the pallet assembly pallet 40 conveyed by the conveyor 110 and recovering the pallet 30 to the pallet recovery unit 330. The pallet 40 from which the pallet 30 is removed is conveyed by the conveyor 110. It should be noted that the details of the pallet removal unit 300 will be described later (refer to FIG. 7 ).

[0047] The pallet assembly unit 400 is a device or area for carrying out the operation of obtaining the pallet 30 stored in the pallet storage unit 430 and assembling the obtained pallet 30 on the pallet 40 transported by the conveyor 110. The pallet storage unit 430 is a device or area for storing the pallet 30 containing the components. The pallet assembly pallet 40 containing the components is transported by the conveyor 110. It should be noted that the details of the pallet assembly unit 400 will be described later (see Fig.13 ).

[0048] The information writing unit 500 is a unit for writing information to the wireless tag 44 (see Figure 3 ) is a device and area for writing identification information of the pallet 40 (hereinafter referred to as "pallet identification information") and / or information related to the components stored in the tray 30 on the pallet 40 (hereinafter referred to as "component information"). It should be noted that the details of the information writing unit 500 will be described later (refer to Fig.15 ).

[0049] The pallet delivery unit 600 is a device and area for storing the pallet assembly pallet 40, on which information has been written to the wireless tag 44 by the information writing unit 500, in the material box 50. In addition, the pallet delivery unit 600 performs the operation of placing the material box (hereinafter referred to as the "storage material box") 50 stored in the pallet assembly pallet 40 on the AGV 60. It should be noted that the details of the pallet delivery unit 600 will be described later (refer to Fig.15 ). The AGV 60, for example, carries the storage box 50 and moves to the location of the tray component supply device 20 .

[0050] according to Figure 1 The structure of the tray handling device 100 shown can automate the work of removing the tray 30 from the pallet 40 or attaching the tray 30 to the pallet 40. The details will be described below.

[0051] <Structure of component mounting device and component supply device>

[0052] Figure 2 1 is a schematic diagram showing a configuration example of the component mounting device 10 and the tray component supply device 20. Figure 2 The component mounting device 10 and the tray component supply device 20 will be described in detail.

[0053] like Figure 2 As shown, the component assembly device 10 includes a substrate conveying unit 11 and a component assembly head 12. The substrate conveying unit 11 is a device for conveying a substrate 13, and is composed of, for example, a belt, a chain, or a roller. The substrate conveying unit 11 may also be referred to as a conveyor or other term. The component assembly head 12 is a device for assembling components supplied by a tray component supply device 20 on a substrate 13 conveyed by the substrate conveying unit 11.

[0054] The tray component supply device 20 includes a mechanism capable of attaching and detaching the magazine 50 and a pallet moving device 21 capable of being raised and lowered by a lifting mechanism. The tray component supply device 20 is attachable and detachable to the component mounting device 10.

[0055] The component mounting device 10 and the tray component supply device 20 perform the following operations, for example.

[0056] (S11) The pallet moving device 21 moves to the same height position as one of the support rails 51 in the magazine 50, and pulls out the pallet assembly pallet 40 stored on the support rail 51 at the height position. Then, the pallet moving device 21 places the pallet assembly pallet 40 and moves to a predetermined height position (e.g., the highest position).

[0057] ( S12 ) The component mounting head 12 sucks components from the tray 30 of the tray mounting pallet 40 placed on the pallet moving device 21 , and mounts the components on the substrate 13 .

[0058] ( S13 ) When mounting of one or more components on the substrate 13 is completed, the substrate transport unit 11 transports the substrate 13 to a working device of the next step.

[0059] ( S14 ) When the pallet 30 is empty of components, the pallet moving device 21 places the pallet assembly pallet 40 , moves to the same height position as the empty support rail 51 in the magazine 50 , and stores the pallet assembly pallet 40 on the support rail 51 .

[0060] It should be noted that, when the material box 50 is filled with the pallet assembly pallet 40 or when the production of the substrate 13 of another model is started, the material box 50 of the pallet component supply device 20 can be replaced with another material box 50. In this case, the AGV 60 can be used to deliver the replacement material box 50.

[0061] <Pallet positioning>

[0062] Figure 3 It is a perspective view showing a configuration example of the tray 30 and the pallet 40 . Figure 4 30 is a perspective view showing an example of a state where the tray 30 is positioned relative to the pallet 40. Figure 3 as well as Figure 4 The structures of the tray 30 and the pallet 40 and the positioning of the tray 30 on the pallet 40 will be described in detail.

[0063] The tray 30 has a substantially rectangular thin shape. A plurality of recesses 31 are formed on the upper surface of the tray 30, and components are housed in each recess 31. The tray 30 is made of, for example, resin.

[0064] The pallet 40 includes a pallet body 41 , tray positioning pieces 42A and 42B, an engaging portion 43 , and a wireless tag 44 .

[0065] The pallet body 41 has a substantially rectangular flat plate shape and is made of a magnetic material.

[0066] The engaging portion 43 is provided on the front side E1 of the pallet body 41 and is engaged with the pallet moving device 21 of the tray component supply device 20. The pallet moving device 21 engages with the engaging portion 43, so that the pallet 40 can be pulled out from the material box 50 or stored in the material box 50.

[0067] The tray positioning pieces 42A and 42B are in the shape of elongated protrusions and are provided on the upper surface of the pallet main body 41. For example, the tray positioning piece 42A is provided in parallel with the front side E1 of the pallet main body 41, and the tray positioning piece 42B is provided in parallel with the left side E2 of the pallet main body 41. Therefore, by making the front side F1 and the left side F2 of the pallet 30 abut against the tray positioning pieces 42A and 42B, respectively, the pallet 30 can be positioned relative to the pallet 40.

[0068] In order to fix the position of the tray 30, a magnetic rod 70 is used as an example of a tray fixing member. The magnetic rod 70 is in a substantially rod-like shape. The magnetic rod 70 has a magnetic portion 72 (see Fig. 10A , Fig. 10B It should be noted that the details of the magnetic rod 70 will be described later (see Fig. 10A , Fig. 10B ).

[0069] After the tray 30 is positioned using the tray positioning pieces 42A and 42B, Figure 3 As shown, the two magnetic rods 70 are respectively connected to the remaining two sides of the tray 30 (at Figure 3 The two magnetic rods 70 are arranged on the support plate 40 in a manner that the rear side F3 and the right side F4 are abutted (contacted). Since the support plate 40 is made of a magnetic material, the two magnetic rods 70 are firmly fixed to the upper surface of the support plate 40. Figure 4 As shown, the four sides of the tray 30 are fixed so that the tray 30 does not deviate in the XY plane direction of the pallet 40 .

[0070] The wireless tag 44 is a circuit capable of reading and writing information wirelessly, and includes a storage unit capable of reading and writing information. The wireless tag 44 is, for example, disposed at an end of the upper surface of the pallet body 41. Information is written to the wireless tag 44 by the information writing unit 500. It should be noted that the details of writing information to the wireless tag 44 will be described later (see Fig.15 ).

[0071] <Structure of the material box>

[0072] Figure 5 1 is a perspective view showing a structural example of the material box 50. Figure 5 The structure of the tank 50 will be described in detail.

[0073] The container 50 has a substantially rectangular parallelepiped shape and is composed of a bottom plate 52, a top plate 53, a left side plate 54A, and a right side plate 54B. That is, the container 50 is open at the front and rear.

[0074] A plurality of support rails 51 parallel to the bottom plate 52 are provided at the same height position on the left side plate 54A and the right side plate 54B. The left and right pair of support rails 51 supports one pallet assembly pallet 40. That is, the material box 50 can store a number of pallet assembly pallets 40 corresponding to the number of the left and right pair of support rails 51.

[0075] <Structure and operation of the pallet recovery unit>

[0076] Figure 6 2 is a schematic diagram showing a structural example of the pallet collecting unit 200. Figure 6 The structure and operation of the pallet collecting unit 200 will be described in detail.

[0077] The pallet collecting unit 200 includes a magazine conveying device 210 , a pallet collecting platform 220 , a driving unit 230 , and a pallet pushing device 240 .

[0078] The magazine transport device 210 is a device for transporting the magazine 50. The magazine transport device 210 includes an XY table 211 movable in the XY axis direction and an end effector 212 connected to the XY table 211 and movable in the Z axis direction. The end effector 212 has a mechanism capable of gripping the magazine 50 from above.

[0079] The pallet collecting table 220 is a table on which the feed box 50 is placed. The pallet collecting table 220 is installed on the driving unit 230.

[0080] The driving unit 230 is a device for raising and lowering the pallet collecting platform 220. In addition, the driving unit 230 is a device for rotating the pallet collecting platform 220 by 90 degrees.

[0081] The pallet pushing device 240 is a device that pushes the pallet 40 in the magazine 50 toward the conveyor 110 .

[0082] The pallet collecting unit 200 performs the following operations, for example.

[0083] ( S21 ) The AGV 60 carrying the magazine 50 storing the pallet assembly pallet 40 arrives next to the pallet collection station 220 .

[0084] ( S22 ) The box transport device 210 drives the XY table 211 and the end effector 212 to pick up the box 50 on the AGV 60 , and places the picked up box 50 on the pallet collecting table 220 .

[0085] ( S23 ) The driving unit 230 rotates the pallet collecting table 220 by 90 degrees. As a result, the front surface of the magazine 50 is changed from the Y-axis direction to the X-axis direction.

[0086] ( S24 ) The driving unit 230 raises (or lowers) the pallet recovery platform 220 so that one of the tray assembly pallets 40 in the magazine 50 reaches a height position of the pallet push-out device 240 .

[0087] (S25) The pallet push-out device 240 pushes the pallet assembly pallet 40 at the position out of the magazine 50. The pushed-out pallet assembly pallet 40 is placed on the conveyor 110. It should be noted that the details of the operation of the pallet push-out device 240 will be described later (see Fig. 7A , Figure 7B ).

[0088] ( S26 ) The driving unit 230 and the pallet pushing-out device 240 repeat S24 and S25 until all the pallet assembly pallets 40 in the magazine 50 are pushed out.

[0089] ( S27 ) The magazine transport device 210 picks up the magazine 50 from which all the pallet assembly pallets 40 have been pushed out, and places the picked up magazine 50 on the AGV 60 . However, some of the pallet assembly pallets 40 may remain in the magazine 50 .

[0090] Fig. 7A 1 is a schematic diagram showing an example of a state before the pallet pushing-out device 240 pushes out the pallet 40 in the magazine 50 . Figure 7B 2 is a schematic diagram showing an example of a state in which the pallet pushing device 240 pushes out the pallet 40 in the magazine 50. Fig. 7A as well as Figure 7B right Figure 6 The operations of S24 and S25 are described in detail.

[0091] The pallet pushing device 240 includes a rod-shaped pusher 241 that is slidable in the X-axis direction.

[0092] like Fig. 7A As shown, in the above S24, the pushing member 241 is at the same height position as a pallet assembly support plate 40.

[0093] like Figure 7B As shown, in S25 , the pallet pushing device 240 slides the pusher 241 toward the pallet 40 (in the positive direction of the X axis). As a result, the pallet assembly pallet 40 at the same height as the pusher 241 is pushed out by the pusher 241 and placed on the conveyor 110 .

[0094] <Structure and operation of the tray removal unit>

[0095] Figure 8 1 is a schematic diagram showing a configuration example of the tray detaching unit 300 . Fig. 9 3 is a perspective view of the main parts showing a structural example of the tray removal unit 300. Figure 8 as well as Fig. 9 The structure and operation of the tray detaching unit 300 will be described in detail.

[0096] The tray detaching unit 300 includes a tray removing unit 310 , a magnetic rod removing device 320 , and a tray collecting unit 330 .

[0097] The pallet removal unit 310 is a device for removing the pallet 30 from the pallet 40. The pallet removal unit 310 includes an XY table 311 that is movable in the XY axis direction, a lifting unit 312 that is connected to the XY table 311 and is movable in the Z axis direction, and a pallet suction head 313 that is connected to the lifting unit 312 and can suction the pallet 30.

[0098] The magnetic rod removal device 320 is an example of a release unit that releases the state in which the tray 30 is fixed to the pallet 40. For example, the magnetic rod removal device 320 is a device that removes the magnetic rod 70 from the pallet 40. The magnetic rod removal device 320 includes an XY table 321 that is movable in the XY axis direction, a Z table 322 that is connected to the XY table 321 and is movable in the Z axis direction, and a magnetic rod transfer head 323 that is connected to the Z table 322 and can transfer the magnetic rod 70.

[0099] The tray collecting unit 330 is a device or a place where the tray 30 collected from the pallet 40 is placed.

[0100] The tray detaching unit 300 performs the following operations, for example.

[0101] (S31) Fig. 9 As shown, the magnetic rod removal device 320 drives the XY table 321, the Z table 322 and the magnetic rod transfer head 323 to remove the magnetic rod 70 from the pallet 40 transported by the conveyor 110, and place the magnetic rod 70 on the pallet 40 at a predetermined position away from the tray 30. It should be noted that the details of the operation of the magnetic rod transfer head 323 will be described later (refer to Fig.11 ).

[0102] (S32) Fig. 9 As shown, the tray removal unit 310 drives the XY table 311 , the lifting unit 312 and the tray suction head 313 , and uses the tray suction head 313 to suction the tray 30 on the pallet 40 , and transfers the suctioned tray 30 to the tray recovery unit 330 .

[0103] <Magnetic rod structure>

[0104] Fig. 10A It is a perspective view showing a structural example of the magnetic rod 70 . Fig. 10B 70 is a longitudinal cross-sectional view in the long-side direction showing a structural example of the magnetic rod 70. Fig. 10A as well as Fig. 10B The structure of the magnetic rod 70 will be described in detail.

[0105] The magnet rod 70 includes a main body portion 71 , a magnet portion 72 , a recessed portion 73 , rod portions 74A and 74B, and a shaft portion 75 .

[0106] The main body 71 is in a horizontally long and substantially rod-like shape. The magnet 72 is provided on the lower surface of the main body 71 and is attracted to the upper surface of the pallet 40. The recess 73 is formed on the upper surface of the main body 71 along the longitudinal direction.

[0107] Rods 74A and 74B are attached to both ends of body 71 via shaft 75. Rods 74A and 74B are inclined such that the lower surface approaches the upper surface as the front end is farther from shaft 75. Rods 74A and 74B are swingable about shaft 75.

[0108] <Structure and operation of the magnetic rod transfer head>

[0109] Fig.11 3 is a perspective view showing a structural example of the magnetic rod transfer head 323. Fig.11 The structure of the magnetic rod transfer head 323 will be described in detail.

[0110] The magnetic rod transfer head 323 has a substantially rectangular parallelepiped shape and includes a holding portion 324, rod operating portions 325A and 325B, pins 326A and 326B, and rods 327A and 327B.

[0111] The holding part 324 constitutes the vicinity of the center of the magnetic rod transfer head 323. The upper surface of the holding part 324 is connected to the Z stage 322 of the magnetic rod removal device 320.

[0112] The pins 326A and 326B are in the shape of rods extending downward from the lower surface of the holding portion 324. The pins 326A and 326B have a thickness and shape that can be inserted into the recess 73 of the magnetic rod 70. The magnetic rod transfer head 323 can move the pins 326A and 326B in the longitudinal direction to make the interval between the pins 326A and 326B closer or farther.

[0113] The lever operating parts 325A and 325B are respectively connected to both ends of the holding part 324 in the longitudinal direction.

[0114] The rods 327A and 327B are in the shape of rods that can be extended and retracted from the lower surface of the rod operating parts 325A and 325B relative to the bottom. The positions of the rods 327A and 327B correspond to the positions of the rod parts 74A and 74B of the magnetic rod 70. That is, the interval between the rods 327A and 327B corresponds to the interval between the rod parts 74A and 74B of the magnetic rod 70.

[0115] Fig.12 323 is an operation diagram of the magnetic rod transfer head. Fig.12 The operation of the magnetic rod transfer head 323 to transfer the magnetic rod 70 will be described in detail.

[0116] (S31) Fig.12 As shown in (a) of FIG. 8 , the magnetic rod transfer head 323 inserts the front ends of the pins 326A and 326B into the recessed portion 73 of the magnetic rod 70 .

[0117] (S32) Fig.12 As shown in (b), the magnetic rod transfer head 323 extends the rod 327A downward, thereby pressing the front end of the rod portion 74A of the magnetic rod 70 from above. As a result, through the principle of leverage, the front end of the rod portion 74A becomes the force point, the portion P of the inclined lower surface of the rod portion 74A close to the shaft portion 75 becomes the fulcrum, and the shaft portion 75 of the rod portion 74A becomes the action point, and the main body 71 of the magnetic rod 70 is pushed up. Therefore, the adsorption force of the magnet portion 72 of the magnetic rod 70 is weakened.

[0118] (S33) Fig.12 As shown in (c), the magnetic rod transfer head 323 extends the rod 327B downward, thereby pressing the rod portion 74B of the magnetic rod 70 from above. As a result, the main body 71 of the magnetic rod 70 is pushed up in the same manner as described above. Therefore, the adsorption force of the magnet portion 72 of the magnetic rod 70 is further weakened. In addition, since the pins 326A and 326B are inserted into the recess 73 of the magnetic rod 70 in S31, the magnetic rod 70 will not be offset or bounced even when the actions of S32 and S33 are performed. Therefore, when the magnetic rod 70 is removed, the components in the tray 30 will not fly around.

[0119] (S34) Fig.12 As shown in (c) , the magnetic rod transfer head 323 widens the interval between the pins 326A and 326B until the pins 326A and 326B come into contact with the end of the recessed portion 73 .

[0120] (S35) Fig.12 As shown in (d) of FIG. 1 , the magnetic rod transfer head 323 moves up while keeping the interval between the pins 326A and 326B widened. Thus, the magnetic rod transfer head 323 can pick up the magnetic rod 70 .

[0121] ( S36 ) The magnetic rod transfer head 323 transfers the picked-up magnetic rod 70 and places it at a predetermined position on the pallet 40 away from the tray 30 .

[0122] <Structure and operation of the pallet assembly unit>

[0123] Fig.13 2 is a schematic diagram showing a configuration example of the tray mounting portion 400 . Fig.144 is a perspective view of the main parts showing a structural example of the tray mounting portion 400. Fig.13 as well as Fig.14 The structure and operation of the tray mounting portion 400 will be described in detail.

[0124] The tray assembly unit 400 includes a tray transfer unit 410 , a magnetic rod moving device 420 , and a tray storage unit 430 .

[0125] The pallet assembly unit 400 is a device for assembling the pallet 30 containing the components onto the pallet 40. The pallet assembly unit 400 includes an XY table 411 that is movable in the XY axis direction, a lifting unit 412 that is connected to the XY table 411 and is movable in the Z axis direction, and a pallet transfer head 413 that is connected to the lifting unit 412 and is capable of transferring the pallet 30.

[0126] The magnetic rod moving device 420 is an example of a tray fixing part, and is a device for moving the magnetic rod 70 of the pallet 40. The magnetic rod moving device 420 includes an XY table 421 that is movable in the XY axis direction, a Z table 422 that is connected to the XY table 421 and is movable in the Z axis direction, and a magnetic rod transfer head 423 that is connected to the Z table 422 and can transfer the magnetic rod 70. The magnetic rod transfer head 423 can be connected to the Fig.11 as well as Fig.12 The structure is the same as the magnetic rod transfer head 323 described in .

[0127] The tray storage unit 430 is a device or a place where the trays 30 containing components are stored.

[0128] The tray mounting unit 400 performs the following operations, for example.

[0129] (S41) Fig.14 As shown, the pallet assembly unit 400 drives the XY table 411, the lifting unit 412 and the pallet transfer head 413 to transfer the pallet 30 containing the components in the pallet storage unit 430 to the pallet 40 transported by the conveyor 110. Figure 4 As shown, the edge of the tray 30 is brought into contact with the tray positioning pieces 42A, 42B of the pallet 40.

[0130] (S42) The magnetic rod moving device 420 is as follows Fig.14 As shown in FIG. 1 , the XY table 421, the Z table 422 and the magnetic rod transfer head 423 are driven to remove the magnetic rod 70 from the support plate 40, and the magnetic rod 70 is Figure 4 As shown, the tray 30 is placed at a position where the tray 30 is fixed. Thus, the tray 30 is positioned and fixed.

[0131] <Structure and operation of the information writing section and the pallet feeding section>

[0132] Fig.15 1 is a perspective view of the main parts showing a configuration example of the information writing unit 500 and the pallet feeding unit 600. Fig.15 The information writing unit 500 and the pallet feeding unit 600 are described in detail.

[0133] The information writing unit 500 is connected to the wireless communication unit 501 via a wired LAN (Local Area Network) or a wireless LAN. The wireless communication unit 501 is a device that wirelessly communicates with the wireless tag 44 of the pallet 40. In addition, the information writing unit 500 can send and receive information with the server 90 via a communication network such as a wired LAN, a wireless LAN, the Internet, a mobile phone network, or a combination thereof.

[0134] The information writing unit 500 writes component information related to the components in the tray 30 mounted on the tray 40 to the wireless tag 44 of the pallet 40 through the wireless communication unit 501. The tray 30 containing the components can be mounted on the pallet 40 by the tray mounting unit 400. In addition, the information writing unit 500 writes information for identifying the pallet 30 mounted on the pallet 40 from the pallet 30 mounted on other pallets 40, that is, the pallet identification information, to the wireless tag 44 of the pallet 40 through the wireless communication unit 501. The information writing unit 500 associates the written component information with the pallet identification information and sends it to the server 90. The server 90 associates the sent component information with the pallet identification information and manages it. Thus, in the server 90, the relationship between the pallet 40, the pallet 30 and the components can be managed. The component information is, for example, the component name, the manufacturer name, the product batch number, the size and shape data of the component, and / or the specification information. The pallet identification information is, for example, the ID or serial number that can uniquely identify the pallet 40 mounted on the pallet. It should be noted that a plurality of pallets 30 may be mounted on one pallet 40. By using the pallet identification information, the pallet 40 on which the plurality of pallets 30 are mounted can be identified and managed.

[0135] The pallet delivery unit 600 is provided with a pallet transfer robot 601. The pallet transfer robot 601 is a device that stores the pallet assembly pallet 40 containing components in the material box 50. The pallet transfer robot 601 can also determine the material box 50 of the storage destination of the pallet assembly pallet 40 containing components based on the pallet identification information written in the wireless tag 44. For example, the pallet transfer robot 601 determines to store the pallet assembly pallet 40 containing components in any one of the material boxes 50 of the automatic warehouse row, the material boxes 50 of the production line A row, or the material boxes 50 of the production line B row based on the pallet identification information. In addition, the pallet transfer robot 601 can also grab the material box 50 and place it on the AGV 60 corresponding to the destination of the material box 50.

[0136] <Modification of the overall structure of the tray handling device>

[0137] Fig.16 1 is a diagram showing a modified example of the overall structure of the tray processing device 100 according to the present embodiment, and is a diagram showing the tray processing device 100 viewed from above. Figure 1 compared to, Fig.16 The illustrated pallet handling apparatus 100 is different in that a pallet storing portion 700 is provided between the pallet removing portion 300 and the pallet attaching portion 400 .

[0138] The pallet storage unit 700 is a device and an area for performing work of storing the pallet 40. The pallet storage unit 700 includes a storage rack 701 and a pallet transport robot 702.

[0139] The storage rack 701 is a rack having a plurality of storage positions for storing the pallets 40 .

[0140] The pallet transport robot 702 is a robot that transports the pallet 40 to the storage rack 701 . The pallet transport robot 702 transports the pallet 40 to an empty storage position in the storage rack 701 .

[0141] It should be noted that, when the pallet 40 equipped with the pallet 30 containing the components is recovered, the pallet disassembling unit 300 may not disassemble the pallet 30 containing the components. Then, the pallet transporting robot 702 may directly store the pallet 40 equipped with the pallet 30 containing the components in an empty storage position of the storage rack 701.

[0142] In addition, the pallet transport robot 702 places the pallet 40 of the storage rack 701 on the conveyor 111 connected to the next pallet mounting section 400 as needed.

[0143] according to Fig.16 The structure of the pallet handling device 100 shown in the figure can temporarily store the pallet 40 without the pallet 30 and the pallet 40 with the pallet 30 containing the components in the pallet storage unit 700. This can improve the flexibility of supplying the pallet 40 to the pallet loading unit 400.

[0144] The above embodiments are described with reference to the accompanying drawings, but the present invention is not limited to the above examples. It is self-evident that those skilled in the art can think of various modification examples, correction examples, substitution examples, additional examples, deletion examples, and equivalent examples within the scope of the technical solution, and it should be understood that these contents also belong to the technical scope of the present invention. In addition, the various constituent elements in the above various embodiments can also be combined arbitrarily without departing from the scope of the main purpose of the invention.

[0145] It should be noted that the present application is based on Japanese patent application (Japanese Patent Application No. 2020-028729) filed on February 21, 2020, the contents of which are incorporated herein by reference.

[0146] Industrial Applicability

[0147] The technology of the present invention is useful for improving the efficiency of substrate production.

Claims

1. A tray processing device for processing a tray for supplying components to a component mounting device for mounting components on a substrate, wherein: The tray processing device comprises: a pallet storage unit that supplies pallets; and The tray mounting section mounts the tray storing the components on the supplied pallet.

2. The tray handling device according to claim 1, wherein: The tray assembly portion comprises: a pallet transfer unit that transfers the pallet stored in the pallet storage unit to the pallet; and The pallet fixing unit fixes the transferred pallet to the pallet.

3. The tray handling device according to claim 2, wherein: The pallet is fixed to the support plate by a pallet fixing member in contact with the pallet, The pallet fixing unit fixes the pallet to the support plate by using the pallet fixing member.

4. The tray handling device according to claim 1, wherein: The pallet storage unit comprises: A storage rack having a plurality of storage locations for storing the pallets; and A pallet transport robot is configured to take out the pallet from the storage position and transport the pallet to the tray assembly unit.

5. The tray handling device according to claim 1, wherein: A storage unit capable of reading and writing information is installed on the support plate. The tray processing device further includes an information writing unit configured to write information related to the components stored in the tray into the storage unit of the pallet on which the tray is mounted.

6. The tray handling device according to claim 5, wherein: The information writing unit writes, into the storage unit, identification information for identifying the pallet mounted on the pallet from pallets mounted on other pallets.

7. The tray handling device according to claim 6, wherein: The information writing unit communicates with a server, associates the information of the component with the identification information, and transmits the associated information to the server.

8. The tray handling device according to claim 5, wherein: The storage unit is a wireless tag capable of reading and writing information wirelessly.

9. The tray processing device according to claim 1, wherein: The pallet processing device further includes a pallet sending-out unit that stores the pallet on which the pallet is mounted in a magazine mounted on the component mounting device.

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