Transfer device

Abstract

This transfer device is provided with: a transfer mechanism that has a placement section on which an article can be placed, and that is capable of transferring the article placed on the placement section; a motor that receives power from the battery and drives the transfer mechanism; an acquisition unit that acquires the weight of the article; and a control unit that, on the basis of the weight of the article acquired by the acquisition unit, determines the drive current so that the drive current becomes smaller when the article is lighter than when the article is heavier, and drives and controls the motor.

Description

Technical Field

[0001] This specification discloses a transfer device. Background Art

[0002] Conventionally, a transfer device capable of transferring required components to a production line for mounting components on a substrate has been known. For example, Patent Document 1 discloses a transfer device having a transfer mechanism capable of transferring a storage box containing a tape feeder to a storage and an automated guided vehicle for transporting the transfer mechanism. In addition, Patent Document 2 discloses the following technique: A sensor is used to detect the number of trays in a magazine, the detected number of trays is multiplied by the weight of each tray to calculate the total weight of the trays held in the magazine, and the magazine is lifted or lowered to the tray supply position at a speed corresponding to the total weight of the trays, thereby speeding up the tray supply operation. In addition, Patent Document 3 discloses the following technique: A storage unit stores the number of trays accommodated in a magazine, the number of components accommodated in the trays, the weight of each tray, and the weight of each component, and based on this information, the total weight of the components accommodated in the magazine is calculated, and the magazine is lifted or lowered to the tray supply position at a speed corresponding to the total weight, thereby speeding up the tray supply operation.

[0003] Prior Art Documents

[0004] Patent Document 1: International Publication No. 2021 / 144866

[0005] Patent Document 2: Japanese Patent Laid-Open No. 4-170100

[0006] Patent Document 3: Japanese Patent Laid-Open No. 2002-329996 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, in the movable transfer device described in Patent Document 1, the transfer mechanism generally receives power supply from a storage battery and is driven. In such a transfer device, if only the high-speed transfer of articles is pursued, the power of the storage battery may be consumed significantly and the operation time may become short.

[0009] The main object of the present disclosure is to extend the operation time in a transfer device that is driven by receiving power supply from a storage battery.

[0010] The present disclosure employs the following means to achieve the above object.

[0011] Means for Solving the Problems

[0012] The gist of the transfer device of the present disclosure is to include: a transfer mechanism having a placement part capable of placing an article and capable of transferring the article placed on the placement part; a motor that receives power supply from a storage battery and drives the transfer mechanism; an acquisition part that acquires the weight of the article; and a control part that determines the drive current in such a way that the drive current becomes smaller when the article is lighter than when the article is heavier based on the weight of the article acquired by the acquisition part, and drives and controls the motor.

[0013] In this transfer device, the drive current is determined in such a way that the drive current becomes smaller when the article is lighter than when the article is heavier, and the motor is driven and controlled. Thus, when the article is lighter, power consumption of the storage battery can be suppressed, and the operation time of the transfer device can be extended. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic structural diagram of the component mounting system 10.

[0015] Figure 2 It is a perspective view of the feeder 20.

[0016] Figure 3 It is a perspective view of the feeder storage 13.

[0017] Figure 4 It is a perspective view of the magazine 50.

[0018] Figure 5 It is a perspective view of the magazine storage device 30.

[0019] Figure 6 It is a schematic structural diagram of the automated guided vehicle 60 and the transfer device 70.

[0020] Figure 7 It is a perspective view when the roller train 75 is removed from the transfer device 70.

[0021] Figure 8 It is a schematic structural diagram of the weight sensor 78.

[0022] Figure 9 It is a block diagram showing the electrical connection relationship of the component mounting system 10.

[0023] Figure 10 It is a flowchart showing an example of a magazine transfer processing routine.

[0024] Figure 11 It is an explanatory diagram showing an example of the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Next, a method for implementing the present disclosure will be described with reference to the accompanying drawings. Figure 1 is a schematic structural diagram of the component mounting system 10. Figure 2 is a perspective view of the feeder 20. Figure 3 is a perspective view of the feeder storage 13. Figure 4 is a perspective view of the magazine 50. Figure 5 is a perspective view of the magazine storage device 30. Figure 6 is a schematic structural diagram of the automated guided vehicle 60 and the transfer device 70. Figure 7 is a perspective view when the roller train 75 is removed from the transfer device 70. Figure 8 is a schematic structural diagram of the weight sensor 78. Figure 9 is a block diagram showing the electrical connection relationship of the component mounting system 10. In addition, in the present embodiment, the X-axis direction (left-right direction), the Y-axis direction (front-back direction), and the Z-axis direction (up-down direction) are as Figures 1 - 8 shown (in Figure 1 the Z-axis direction is perpendicular to the paper surface, and in Figure 8 the Y-axis direction is perpendicular to the paper surface).

[0026] In each of the plurality of (five in the present embodiment) component mounting devices 14 of the component mounting system 10, the component P is supplied from the feeder 20, and the component P is sequentially mounted on the substrate S to manufacture the substrate S on which the component P is mounted. As Figure 1 shown, the component mounting system 10 includes: a production line L, a loader 17, an automated guided vehicle 60, a transfer device 70, and a management device 90 (refer to Figure 9 ).

[0027] As Figure 1 shown, the production line L is configured to sequentially arrange a printing device 11, a printing inspection device 12, a feeder storage 13, a plurality of component mounting devices 14, a reflow soldering device 15, and an appearance inspection device 16.

[0028] The printing device 11 is a device for printing solder on the wiring pattern of the substrate S. The printing device 11 includes a substrate conveying device for conveying the substrate S, a printing head, a head moving device for moving the printing head, a fixing frame to which a screen mask is fixed, a control device as a computer including a CPU, ROM, RAM, a memory (such as HDD, SSD), etc. The printing inspection device 12 is a device for inspecting the state of the solder printed on the substrate S by the printing device 11. The printing inspection device 12 includes an inspection device and a control device (computer) for controlling the inspection device, etc. The feeder storage 13 is a device for storing the feeders 20 used in the component mounting device 14 and the used feeders 20. The component mounting device 14 is a device for mounting components P on the substrate S printed with solder by the printing device 11. The component mounting device 14 has an installation control device and a feeder installation table that are not shown in the figure. When the feeder 20 is installed on the feeder installation table, the mounting control device can communicate with the feeder 20 to obtain information related to the component P held by the feeder 20. The reflow soldering device 15 is a device that heats the substrate S to melt the solder, cools it, electrically connects the component P to the substrate S, and fixes the component P to the substrate S. The appearance inspection device 16 is a device that determines whether the position deviation amount between the actual mounting position and the predetermined target mounting position of the component P on the substrate S is within the appearance inspection allowable range.

[0029] The feeder 20 is a component supply device that supplies components P to the component mounting device 14. Figure 2 As shown, the feeder 20 is a cassette-type tape feeder having a tape reel 22 on which a tape 21 accommodating a plurality of components P is wound, a tape feeding mechanism 23, a connector 24, a rail 25, and a feeder control device (not shown) for controlling the tape feeding mechanism 23.

[0030] like Figure 1 As shown, the loader 17 moves along the production line L, takes out the used feeder 20 from the component mounting device 14 and returns it to the feeder storage 13, or takes out the feeder 20 scheduled to be used in the future from the feeder storage 13 and supplies it to the component mounting device 14. The loader 17 is equipped with a loader control device not shown.

[0031] The feeder storage 13 is a device for storing the feeders 20, and a silo 50 for storing the feeders 20 is installed in a detachable manner. Figure 3 As shown, the feeder storage 13 includes two silo storage devices 30 arranged side by side on the left and right and a storage control device 45 (see Figure 9 ).

[0032] The silo 50 is a storage box capable of storing a plurality of feeders 20. Figure 4As shown, the magazine 50 has: a magazine main body 51, slots 52, a clamped portion 53, a connector 54 for the feeder 20, and a connector 55 for the magazine storage device 30. The magazine main body 51 is a rectangular parallelepiped-shaped box. A plurality of slots 52 are provided along the left-right direction on the bottom surface of the rear entrance side of the magazine main body 51. The feeder 20 can be held by inserting the track 25 of the feeder 20 into the slot 52 from the rear. The clamped portion 53 is a protrusion provided on the back side of the bottom surface of the magazine main body 51 and is clamped by the clamping mechanism 40 of the magazine storage device 30. When the feeder 20 is inserted into the slot 52, the connector 54 is connected to the connector 24 of the feeder 20. The connector 55 can be connected to the connector 35 of the magazine mounting table 31. When the connector 55 of the magazine 50 is connected to the connector 35 of the magazine storage device 30, the storage control device 45 (refer to Figure 9 ) of the feeder storage 13 and the feeder 20 mounted on the magazine 50 can communicate with each other via the magazine 50, and the storage control device 45 acquires the mounting position of the feeder 20 in the slot 52 provided in the magazine 50, the identification information of the feeder 20, information related to the component P held by the feeder 20, etc.

[0033] The magazine storage device 30 is a device that receives the magazine 50 containing the feeder 20 for the next production from the transfer device 70 or transfers the magazine 50 containing the used-up feeder 20 to the transfer device 70. As Figure 5 shown, the magazine storage device 30 includes a magazine mounting table 31 and a clamping mechanism 40.

[0034] The magazine mounting table 31 is a table for mounting the magazine 50. As Figure 5 shown, the magazine mounting table 31 includes: a roller support member 32, two roller rows 34, and a connector 35. The roller support member 32 is a plate-shaped member provided with the roller rows 34. The roller rows 34 are provided on the left and right sides of the roller support member 32. The roller row 34 is a structure in which a plurality of rollers 34R whose rotation axes are arranged along the left-right direction are arranged in the front-rear direction. Each roller 34R is rotatably mounted on a roller mounting member 36 mounted on the upper surface of the roller support member 32. Each roller 34R rotates forward or backward under the power of the motor 37 (refer to Figure 9 ) in the state where the magazine 50 is mounted, thereby moving the magazine 50 forward or backward in the magazine storage device 30. The connector 35 is provided on a wall portion 38 provided on the front side of the upper surface of the roller support member 32. The connector 35 can be connected to the connector 55 provided on the front surface of the magazine 50.

[0035] The clamping mechanism 40 is a mechanism for clamping the magazine 50 mounted on the magazine mounting table 31. As Figure 5As shown, the clamping mechanism 40 is provided between two roller rows 34. The clamping mechanism 40 is mounted on a clamping slider 42 that can move in the front-rear direction by a cylinder 41. The clamping mechanism 40 has a hook-shaped clamp 43. The clamp 43 is positioned by an actuator (not shown) between the clamping release position shown in Figure 5 and a clamping position (a position rotated upward from the clamping release position) not shown. The clamping slider 42 stops at the position (rear position) shown in Figure 5 when transferring the magazine 50. The clamping slider 42 is provided with a stopper 44 for stopping the magazine 50 that has moved forward on the magazine mounting table 31.

[0036] As Figure 9 shown, the magazine control device 45 is a device that controls the entire feeder magazine 13. The magazine control device 45 is a computer having a CPU, ROM, RAM, memory, etc. The magazine control device 45 outputs control signals to the magazine mounting table 31, the clamping mechanism 40, etc.

[0037] The automatic guided vehicle 60 is a device that connects to the transfer device 70 and travels to tow the transfer device 70. The automatic guided vehicle 60 has a storage battery 61 (refer to Figure 9 ), a traveling motor 62, and a carrier control device (not shown). The automatic guided vehicle 60 travels by driving the motor 62 using the power of the storage battery 61. The automatic guided vehicle 60 is configured as an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot), for example. The carrier control device controls the travel of the automatic guided vehicle 60.

[0038] The transfer device 70 is a device that can transfer the magazine 50 between it and the magazine storage device 30. The transfer device 70 is connected to the automatic guided vehicle 60 via a connector (not shown) and operates by receiving power supply from the storage battery 61 of the automatic guided vehicle 60. As Figures 6 - 8 shown, the transfer device 70 is configured as a carriage having a base member 71, a magazine transfer mechanism 72, a stepping motor 76 (refer to Figure 9 ), a driver 77 (refer to Figure 9 ), a weight sensor 78, wheels 79, and a control device 80 (refer to Figure 9 ).

[0039] The base member 71 is a member on which the magazine transfer mechanism 72 (roller support member 73) is mounted on the upper part. As Figure 8 shown, the base member 71 has openings 71a extending from the front end side to the rear end side at both left and right ends. In addition, the base member 71 has a recess 71b near the central part in the front-rear direction and the left-right direction.

[0040] The silo transfer mechanism 72 has a roller support member 73 (refer to Figure 7 , Figure 8 ), and a roller row 75 (refer to Figure 6 , Figure 8 ). The roller support member 73 is a member for supporting the roller row 75. As Figure 8 shown, the roller support member 73 has a protruding portion 73a. The protruding portion 73a protrudes downward from the lower surface of the roller support member 73 and extends in the front-rear direction. The protruding portion 73a is inserted through the opening 71a of the base member 71. An anti-detachment portion 73b is formed at the lower end of the protruding portion 73a. Thereby, it is possible to prevent the silo transfer mechanism 72 from detaching upward from the base member 71 together with the roller support member 73. The roller row 75 can carry the silo 50. The roller row 75 has a plurality of rollers 75R and a plurality of roller mounting members 74. Each roller 75R is rotatably mounted on the roller mounting member 74 mounted on the upper surface of the roller support member 73. The roller mounting member 74 is a pair of left and right members having a substantially L-shaped cross section, and is provided on the upper surface of the roller support member 73 such that the rotation axis of the roller 75R faces the left and right directions. A plurality of roller mounting members 74 are arranged in the front-rear direction on the upper surface of the roller support member 73 such that a plurality of rollers 75R are arranged in the front-rear direction.

[0041] The stepping motor 76 (refer to Figure 9 ) is a power source for rotating each roller 75R. The stepping motor 76 supplies power to the roller 75R in a state where the silo 50 is placed, and rotates the roller 75R forward or backward, so as to move the silo 50 forward or backward in the silo transfer mechanism 72.

[0042] The driver 77 (refer to Figure 9 ) is a circuit for switching the switching element that drives the stepping motor 76. The driver 77 is, for example, a motor driver of a constant current drive method. The driver 77, for example, includes a known buck-boost chopper circuit including a coil, a capacitor, and a transistor, and a switching element for driving the stepping motor 76. The driver 77 inputs a set value of the drive current of the stepping motor 76 from the control device 80 (refer to Figure 9 ). The driver 77 controls the chopper circuit so as to act with a voltage corresponding to the input set value of the drive current, and controls the switching element with a frequency corresponding to the target speed of the stepping motor 76.

[0043] The weight sensor 78 is a sensor for measuring the weight of the silo 50 placed on the roller row 75 of the silo transfer mechanism 72. The weight sensor 78 is disposed so as to be sandwiched between the bottom surface of the recess 71b formed in the base member 71 and the lower surface of the roller support member 73. The weight sensor 78 outputs data related to the measured weight of the silo 50 to the control device 80.

[0044] The control device 80 is a device that controls the entire transfer device 70. As Figure 9 shown, the control device 80 is a computer equipped with a CPU 81, a ROM 82, a RAM 83, a storage device 84, etc. The control device 80 outputs a drive instruction including a set value of the drive current to the driver 77. In addition, the control device 80 inputs a detection signal from the weight sensor 78. In addition, the control device 80 exchanges data with the storage control device 45, the forklift control device, etc.

[0045] The management device 90 is a device that manages the entire component mounting system 10. The management device 90 is a computer including a CPU, a ROM, a RAM, a memory, etc., and is connected to input devices such as a keyboard and a mouse and a display. In the memory of the management device 90, a production program for the substrate S, production information related to the production of the substrate S, etc. are stored. Here, the production program specifies the mounting order of the components P on the substrate S in the plurality of component mounting devices 14 in the component mounting system 10, the production quantity of the substrate S, etc. The management device 90 sends control signals to the printing device 11, the printing inspection device 12, the component mounting device 14, the reflow soldering device 15, the appearance inspection device 16, etc. In addition, the management device 90 exchanges data with the mounting control device, the storage control device 45, the control device 80, the loader control device, etc.

[0046] Next, the operation of the component mounting system 10 will be described. Here, the operation of loading the magazine 50 on the transfer device 70 in a warehouse (not shown), towing the transfer device 70 from the warehouse to the front of the feeder storage 13 of the component mounting system 10 by the automated guided vehicle 60, and transferring the magazine 50 to the magazine storage device 30 of the feeder storage 13 will be described. In addition, the warehouse is located at a place different from the place where the component mounting system 10 is installed.

[0047] First, the operator connects the automated guided vehicle 60 to the transfer device 70 in the warehouse. Next, the operator loads the magazine 50 on the transfer device 70, and installs the tape feeder 20 containing the required components on the magazine 50, and gives a conveyance instruction to the automated guided vehicle 60. When the conveyance instruction is input, the automated guided vehicle 60 towes the transfer device 70 and moves to the front of the feeder storage 13. When the automated guided vehicle 60 (transfer device 70) moves to the front of the feeder storage 13, the storage control device 45 inputs a signal from a sensor (not shown) indicating that the automated guided vehicle 60 has moved to the front of the feeder storage 13. Then, the storage control device 45 outputs an instruction to start transfer to the control device 80. When the instruction to start transfer is input, the CPU 81 of the control device 80 executes Figure 10The illustrated bin transfer processing routine. In addition, the clamping slider 42 is positioned at Figure 5 the rear position shown, and the clamp 43 is positioned at Figure 5 the clamping release position shown.

[0048] When starting the bin transfer processing routine, the CPU 81 obtains the weight of the bin 50 placed on the bin transfer mechanism 72 from the weight sensor 78 (S100). Next, the CPU 81 sets the drive current of the stepping motor 76 (S105). Specifically, the CPU 81 calculates and sets the output value of the drive current corresponding to the weight of the bin 50 obtained in S100 based on Figure 11 the relationship between the weight of the bin 50 and the drive current as shown. This relationship is determined such that, for example, the lighter the weight of the bin 50, the smaller the value of the drive current of the stepping motor 76. And the CPU 81 outputs a drive command including the set value of the drive current of the stepping motor 76 set in S105 to the driver 77 (S110). After S110, the CPU 81 ends this routine.

[0049] When a drive command including the set value of the drive current is input, the driver 77 changes the voltage applied to the stepping motor 76 so that the drive current of the stepping motor 76 becomes the set value. Specifically, the driver 77 controls the duty ratio of the buck-boost chopper circuit (transistor) through feedback control based on the deviation between the set value of the drive current and the current value of the current actually flowing through the stepping motor 76. In addition, the driver 77 controls the switching element at a constant frequency so that the bin 50 is transferred at a constant speed regardless of the weight of the bin 50.

[0050] In this way, in the transfer device 70, the CPU 81 sets the drive current of the stepping motor 76 based on Figure 11 the relationship shown such that the lighter the weight of the bin 50, the smaller the value of the drive current. And the driver 77 changes the duty ratio of the buck-boost chopper circuit (transistor) so that a voltage corresponding to the drive current acts. Therefore, the stepping motor 76 can be driven with an appropriate drive current for the weight of the bin 50, and the power consumption of the storage battery 61 can be suppressed. For example, when the number of feeders 20 stored in the bin 50 is small and the weight of the bin 50 including the feeder 20 is relatively light, unnecessary power consumption can be suppressed. In addition, the driver 77 controls the switching element so that the bin 50 is transferred at a constant speed regardless of the weight of the bin 50. By setting the frequency of the transfer speed such that the impact and load on the bin 50 do not become large, the impact and load on the bin 50 can be reduced.

[0051] When it is detected from a sensor (not shown) that the bin 50 (refer to Figure 4When the vault control device 45 receives a signal indicating the gist of (), the vault control device pulls the magazine 50 forward on the magazine mounting table 31. Specifically, the vault control device controls the motor 37 of the drive roller 34R to pull the magazine 50 onto the magazine mounting table 31. When the magazine 50 moves forward on the magazine mounting table 31, the front end of the clamped portion 53 (see Figure 4 ), provided on the lower surface of the magazine 50, abuts against the stopper 44 and stops at this position. Next, the vault control device 45 clamps the magazine 50. Specifically, the vault control device 45 controls the actuator of the clamping mechanism 40 so that the clamp 43 is positioned from the release position to the clamping position. Thus, the clamped portion 53 of the magazine 50 is in a state of being clamped by the stopper 44 and the clamp 43. Next, the vault control device 45 connects the connector 55 (see Figure 4 ) of the magazine 50 to the connector 35 (see Figure 5 ) of the magazine mounting table 31 (see Figure 5 ). Specifically, the vault control device 45 controls the air cylinder 41 (see Figure 5 ) to move the clamping slider 42 (see Figure 5 ) holding the magazine 50 forward, and connects the connector 55 of the magazine 50 to the connector 35 of the magazine mounting table 31.

[0052] Thereby, the component P (feeder 20) required for production can be automatically transported from the warehouse to the production line L (feeder storage 13). In addition, the feeder storage 13 has two magazine storage devices 30. Therefore, the magazine 50 containing the feeder 20 to be used can be stored in one, and the magazine 50 containing the used-up feeder 20 can be stored in the other. Therefore, after receiving the magazine 50 containing the feeder 20 to be used from the transfer device 70, the feeder storage 13 can transfer the magazine 50 containing the used-up feeder 20 to the transfer device 70. Thereby, the replenishment and recovery of the feeder 20 (magazine 50) can be efficiently performed.

[0053] Here, the correspondence between the components of this embodiment and the components of the present disclosure is clarified. That is, the transfer device 70 of this embodiment corresponds to the transfer device of the present disclosure, the feeder 20 and the magazine 50 correspond to the articles, the stepping motor 76 corresponds to the motor, the weight sensor 78 and the CPU 81 that executes the process of S100 in the magazine transfer processing routine correspond to the acquisition unit, and the CPU 81 and the driver 77 that execute the process of S105 in the transfer processing program correspond to the control unit. In addition, the base member 71 corresponds to the base member.

[0054] In the transfer device 70 described in detail above, the drive current is determined in such a way that the drive current becomes smaller when the magazine 50 including the feeder 20 is lighter than when it is heavier, and the stepping motor 76 is driven and controlled. Thereby, when the magazine 50 including the feeder 20 is lighter, power consumption of the storage battery 61 can be suppressed, and the operation time of the transfer device 70 can be extended.

[0055] In addition, in the transfer device 70, the CPU 81 controls in such a way that the lighter the weight of the magazine 50 including the feeder 20, the smaller the drive current of the stepping motor 76. Thereby, the drive current can be adjusted more finely according to the weight of the magazine 50 including the feeder 20, and power consumption of the storage battery 61 can be further suppressed.

[0056] In addition, in the transfer device 70, a base member 71 is provided below the magazine transfer mechanism 72, and a weight sensor 78 is provided between the base member 71 and the magazine transfer mechanism 72. Thereby, the weight of the magazine 50 can be obtained more appropriately.

[0057] In addition, in the transfer device 70, the stepping motor 76 is controlled so that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50 including the feeder 20. When transferring the magazine 50 from the magazine transfer mechanism 72, by presetting a speed considering the impact and load on the magazine 50 and the feeder 20, the impact and load on the magazine 50 and the feeder 20 can be reduced.

[0058] In addition, the transfer device 70 is carried by the automated guided vehicle 60, and the stepping motor 76 is driven by receiving power supply from the storage battery 61 built in the automated guided vehicle 60. By setting a drive current corresponding to the weight of the magazine 50, the transfer device 70 can have a simpler structure, and the operation time of the automated guided vehicle 60 can be extended.

[0059] In addition, in the transfer device 70, it is possible to transfer the feeder 20 (magazine 50) used in the component mounting device 14 that constitutes the production line L of the substrate S. In a state where the feeder 20 is stored, the weight of the magazine 50 varies depending on the type and quantity of the feeder 20. Therefore, it is significant to obtain the weight of the magazine 50 accommodating the feeder 20 and determine the drive current based on the weight of the magazine 50.

[0060] In addition, it goes without saying that the present disclosure is not limited by any of the above-described embodiments, and can be implemented in various ways as long as it belongs to the technical scope of the present disclosure.

[0061] In the above-described embodiment, the motor of the present disclosure has been described as the stepping motor 76. However, the motor of the present disclosure may also be a servo motor.

[0062] In the above-described embodiment, the magazine 50 stores the component P (feeder 20). However, the magazine 50 may also store a tray containing the component P or a pallet on which the tray is placed, and may also store a screen mask or a substrate support member used in the printing apparatus 11, etc.

[0063] In the above-described embodiment, the weight of the magazine 50 is measured by the weight sensor 78 of the transfer device 70. However, the CPU 81 may also obtain the weight of the magazine 50 from the management device 90 in the S100 of the transfer processing routine. In this case, the management device 90 may also estimate the weight at least based on the number of feeders 20. For example, the management device 90 may pre-store in the memory the weight of the magazine 50, the number of feeders 20 stored in the magazine 50, the weight of the feeder 20, etc., and calculate the weight of the magazine 50 including the feeder 20 through calculation. In addition, the management device 90 may further pre-store in the storage the type and quantity of the component P accommodated in each feeder 20 and the weight of each component P, and calculate the total weight through calculation.

[0064] In the above-described embodiment, the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76 is set such that the smaller the weight of the magazine 50, the smaller the value. However, the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76 may also be set such that the drive current value is set stepwise (in a stepped manner) based on the weight of the magazine 50. In this case, as in the above-described embodiment, when the weight of the magazine 50 is light, the drive current may be made smaller than when it is heavy.

[0065] In the above embodiment, the transfer device 70 is towed by the automated guided vehicle 60. However, the transfer device 70 may also be placed on the automated guided vehicle 60 and be transported. In this case, the transfer device 70 may not be configured as a trolley.

[0066] In the above-described embodiment, the transfer device 70 receives power supply from the battery 61 of the automated guided vehicle 60. However, a battery may also be provided in the transfer device 70.

[0067] In the above embodiment, the transfer device 70 and the automated guided vehicle 60 are separately configured. However, the transfer device 70 and the automated guided vehicle 60 may also be integrally configured.

[0068] In addition, in this specification, the technical idea of changing the "transfer device according to claim 1 or 2" to the "transfer device according to any one of claims 1 to 3" in claim 4 at the initial stage of the application is also disclosed. In addition, in this specification, the technical idea of changing the "transfer device according to claim 1 or 2" to the "transfer device according to any one of claims 1 to 4" in claim 5 at the initial stage of the application is also disclosed. In addition, in this specification, the technical idea of changing the "transfer device according to claim 1 or 2" to the "transfer device according to any one of claims 1 to 6" in claim 7 at the initial stage of the application is also disclosed.

[0069] Industrial Applicability

[0070] The transfer device of the present disclosure can be used in the manufacturing industry of component mounting systems.

[0071] Explanation of Reference Numerals

[0072] 10 Component mounting system, 11 Printing device, 12 Printing inspection device, 13 Feeder storage, 14 Component mounting device, 15 Reflow soldering device, 16 Appearance inspection device, 17 Loader, 20 Feeder, 21 Belt, 22 Reel, 23 Belt feeding mechanism, 24 Connector, 25 Guide rail, 30 Magazine storage device, 31 Magazine mounting table, 32 Roller support member, 34 Roller row, 34R Roller, 35 Connector, 36 Roller mounting member, 37 Motor, 38 Wall portion, 40 Clamping mechanism, 41 Cylinder, 42 Clamping slider, 43 Clamp, 44 Stopper, 45 Storage control device, 50 Magazine, 51 Magazine body, 52 Slot, 53 Clamped portion, 54 Connector, 55 Connector, 60 Automated guided vehicle, 61 Battery, 62 Motor, 68 Weight sensor, 70 Transfer device, 71 Base member, 71a Opening, 71b Recess, 72 Magazine transfer mechanism, 73 Roller support member, 73a Protrusion, 73b Anti-disengagement portion, 74 Roller mounting member, 75 Roller row, 75R Roller, 76 Stepper motor, 77 Driver, 78 Weight sensor, 79 Wheel, 80 Control device, 81 CPU, 82 ROM, 83 RAM, 84 Storage, 90 Management device, L Production line, P Component, S Substrate.

Claims

1. A transfer device, comprising: The transfer mechanism has a loading portion capable of loading articles, and is capable of transferring the articles loaded on the loading portion; A motor receives power from a battery to drive the transfer mechanism; an obtaining unit, which obtains the weight of the article; and The control unit determines the driving current based on the weight of the article acquired by the acquisition unit so that the driving current becomes smaller when the article is light than when the article is heavy, and controls the driving of the motor.

2. The transfer device according to claim 1, in, The control unit controls the driving current so that the lighter the object is, the smaller the driving current is.

3. The transfer device according to claim 1 or 2, in, The transfer device includes a base member provided below the transfer mechanism. The acquisition unit includes a weight sensor provided between the base member and the transfer mechanism.

4. The transfer device according to claim 1 or 2, in, The control unit controls the motor so as to transfer the article at a constant speed regardless of the weight of the article.

5. The transfer device according to claim 1 or 2, in, The transfer device is transported by an unmanned transport vehicle. The electric motor is driven by receiving electric power supplied from a battery built in the automated guided vehicle.

6. The transfer device according to claim 5, in, The transfer device is formed by a carriage having wheels.

7. The transfer device according to claim 1 or 2, in, As the article, a component used in a module constituting a production line of a substrate can be transferred.

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