Component supply system, control assembly, component supply method, and computer program product

Abstract

A component supply system, a control assembly, a component supply method, and a computer program product are provided. The purpose of the present invention is to shorten the time required for aligning a second stage in the height direction. The replenishment device performs work including at least one of a supply work and a recovery work. The supply operation is an operation of placing an article storage body, which stores articles used in a manufacturing process of manufacturing equipment, on a first table. The recovery operation is an operation for taking out the article storage body from the first table after the article is consumed. The replenishment device is provided with: a storage rack having one or more second tables on which the article storage bodies can be placed; and a lifting device for lifting the storage rack. The control means controls the lifting device on the basis of the height information of the storage rack during the operation so that the second table for the operation object is moved to the same height as the first table. The control unit causes the replenishment device to execute the work in a state where the second table of the work object is moved to the same height as the first table.

Description

Technical Field

[0001] The present disclosure relates to a component supply system, a control unit, a component supply method, and a computer program product. More specifically, the present disclosure relates to a component supply system, a control unit, a component supply method, and a computer program product that perform operations including at least one of recovering and supplying item storage containers that store items. Background Art

[0002] Document 1 (Japanese Patent Publication No. 2022-104294) discloses an article transport device for transporting articles used in manufacturing equipment installed on a factory floor. The article transport device comprises a base with wheels for traveling on the factory floor; a storage rack with a second table that holds an article storage unit for storing articles; and a rack lift device that raises and lowers the storage rack. The article transport device also comprises a position detector that detects the height position of the storage rack; and a reference height detector that rises and falls with the storage rack to detect a reference point located on the manufacturing equipment. A control unit of the article transport device activates the rack lift device with the base docked with the manufacturing equipment. While the height of the reference height detector changes along with the rack lift device, the reference height detector detects the reference point located on the manufacturing equipment. The control unit of the article transport device sets the position detected by the position detector when the reference height detector detects the reference point as the reference height. Based on the reference height, the rack lift device is activated to perform the transfer of article storage units between the second table and the manufacturing equipment.

[0003] In the article transport device of Document 1, the rack lifting device is operated while the base unit is docked with the manufacturing equipment. The reference height detection unit moves along with the storage rack while detecting the reference point. Therefore, until the reference height detection unit detects the reference point, the storage rack must be moved at a low speed to avoid missing the reference point. This takes a long time to align the manufacturing equipment and the second workbench in the height direction. Summary of the Invention

[0004] An object of the present disclosure is to provide a component supply system, a control unit, a component supply method, and a computer program product that can shorten the time required for positioning the second table in the height direction.

[0005] A component supply system according to one embodiment of the present disclosure includes: a replenishing device; and a control unit for controlling the replenishing device. The replenishing device performs at least one of a supplying operation and a collecting operation. The supplying operation involves placing an item container, which contains items used in a manufacturing process, on a first workbench provided in the manufacturing facility for transfer. The collecting operation involves removing the item container, which has been placed on the first workbench after the items have been consumed, from the first workbench. The replenishing device includes: a storage rack having one or more second workbenches capable of holding the item containers; and a lifting device for raising and lowering the storage rack. The control unit controls the lifting device based on height information obtained from a storage unit storing the height information of the storage racks during the operation, so that a second workbench selected from the one or more second workbenches for operation is moved to the same height as the first workbench. The control unit causes the replenishing device to perform the operation when the second workbench, selected as the target of operation, has moved to the same height as the first workbench.

[0006] A control assembly according to one embodiment of the present disclosure includes: a control unit for controlling a replenishment device; and an acquisition unit. The replenishment device performs an operation including at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage body on a first workbench provided on the manufacturing equipment in order to transfer the item storage body for storing items used in the manufacturing process of the manufacturing equipment. The recovery operation is an operation of removing the item storage body placed on the first workbench from the first workbench after the items are consumed. The replenishment device includes: a storage rack having one or more second workbenches capable of placing the item storage bodies; and a lifting device for raising and lowering the storage rack. The acquisition unit acquires height information from a storage unit storing the height information of the storage rack when the operation is performed. Based on the height information acquired by the acquisition unit, the control unit controls the lifting device so that the second workbench selected from the one or more second workbenches for the operation target is moved to the same height as the first workbench. The control unit controls the replenishing device to execute the work in a state where the second work table of the work target has moved to the same height as the first work table.

[0007] One aspect of the present disclosure relates to a component supply method in which a replenishment device performs at least one of a supply operation and a recovery operation. The supply operation involves placing an item storage body, which stores items used in a manufacturing process, on a first workbench provided in the manufacturing facility for transfer. The recovery operation involves removing the item storage body from the first workbench after the items placed on the first workbench have been consumed. The replenishment device includes: a storage rack having one or more second workbenches capable of holding the item storage bodies; and a lifting device for raising and lowering the storage rack. The component supply method includes an acquisition step, a lift control step, and a job execution step. In the acquisition step, height information of the storage rack is acquired from a storage unit storing the height information of the storage rack at the time of the job. In the lift control step, the lift device is controlled based on the height information acquired in the acquisition step so that a second workbench selected from the one or more second workbenches for the job is moved to the same height as the first workbench. In the work execution step, the work is executed in a state where the second workbench of the work target is moved to the same height as the first workbench.

[0008] A computer program product according to one aspect of the present disclosure is a computer program product including a computer program. The computer program product is configured to implement each step of the component supply method by executing the computer program on a computer system.

[0009] Effects of the Invention

[0010] According to the present disclosure, the time required for positioning the second stage in the height direction can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic system configuration diagram of a component supply system according to one embodiment of the present disclosure.

[0012] Figure 2 This is a side view showing a state in which the replenishing device included in the above component supply system performs a recovery operation of recovering the article storage body from the component storage device.

[0013] Figure 3 This is a side view showing a state in which the replenishing device as above performs a supply operation of placing an article storage body into the component storage device.

[0014] Figure 4 This is a flowchart illustrating the operation of the same component supply system.

[0015] Description of Reference Signs

[0016] 1. Parts supply system

[0017] 4 Supply device

[0018] 5 Delivery Robot

[0019] 6 Management System

[0020] 8 Item Storage

[0021] 32 No. 1 workbench

[0022] 34 Logo Department

[0023] 43 Storage Rack

[0024] 44 No. 2 Workbench

[0025] 44A Recycling Workbench

[0026] 44B Supply Workbench

[0027] 45 Photoelectric Sensor

[0028] 400 control components

[0029] 402 Lifting Device

[0030] 403 Control Department

[0031] 404 Acquisition

[0032] 603 Storage Department

[0033] 604 Operation Instruction Department. DETAILED DESCRIPTION

[0034] The following describes in detail the component supply system according to the embodiments with reference to the accompanying drawings. The figures described in the following embodiments are schematic diagrams, and the size and other dimensional ratios of the components are not necessarily limited to those reflecting actual dimensional ratios. Furthermore, the structure described in the following embodiments is merely an example of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications can be made according to design, etc., as long as the effects of the present disclosure are achieved.

[0035] (Implementation Method)

[0036] (1) Summary

[0037] like Figures 1 to 3 As shown, the component supply system 1 according to the present embodiment includes: a replenishing device 4 ; and a control unit 400 for controlling the replenishing device 4 .

[0038] The replenishment device 4 performs at least one of a supply operation and a collection operation. The supply operation involves placing the item storage bodies 8 on the first workbench 32 provided on the manufacturing facility 2 for the purpose of transferring the item storage bodies 8 that store items used in the manufacturing process of the manufacturing facility 2. The collection operation involves removing the item storage bodies 8 placed on the first workbench 32 from the first workbench 32 after the items have been consumed.

[0039] The replenishment device 4 includes a storage rack 43 having one or more second stages 44 on which the article storage bodies 8 can be placed, and a lifting device 402 for lifting the storage rack 43 .

[0040] The control unit 400 controls the lifting device 402 based on the height information obtained from the storage unit 603 so that the second work table 44 selected from the one or more second work tables 44 is moved to the same height as the first work table 32. The storage unit 603 stores the height information of the storage rack 43 during the operation (including at least one of the supply operation and the recovery operation). The control unit 400 controls the supply device 4 to perform the operation when the second work table 44 selected from the one or more second work tables 44 is moved to the same height as the first work table 32.

[0041] Here, manufacturing equipment 2 is installed in a facility such as a factory and is used to manufacture products. The items used by manufacturing equipment 2 during the manufacturing process are components used to manufacture products. For example, if manufacturing equipment 2 is a mounting device (a so-called mounter) that mounts electronic components on a circuit board, the components used by manufacturing equipment 2 during the manufacturing process include electronic components such as IC chips, chip resistors, and chip capacitors mounted on the board. The item storage body 8 is a container that stores items used by manufacturing equipment 2 during the manufacturing process. When the supply device 4 supplies a plate-shaped tray 80 containing multiple items to manufacturing equipment 2, the item storage body 8 can be the tray 80 itself that stores the multiple components, or it can be a box that stores multiple trays 80 in an individually accessible state (a so-called cassette). The following description uses the case where the item storage body 8 that stores the items is a box that stores multiple trays 80 as an example.

[0042] The supply operation is the operation of placing the item storage bodies 8 on the first worktable 32. However, the replenishing device 4 may also perform a portion of the supply operation of placing the item storage bodies 8 on the first worktable 32. For example, the operation performed by the replenishing device 4 may be the operation of transporting the item storage bodies 8 to be placed on the first worktable 32 to the location where the manufacturing equipment 2 is installed and supplying them to the manufacturing equipment 2. In this case, since the item storage bodies 8 removed from the replenishing device 4 by the manufacturing equipment 2 are placed on the first worktable 32, the replenishing device 4 and the manufacturing equipment 2 jointly perform the supply operation. Alternatively, the replenishing device 4 may perform the entire supply operation of placing the item storage bodies 8 on the first worktable 32.

[0043] The recovery operation is the operation of removing the item storage body 8 placed on the first workbench 32 from the first workbench 32. However, the replenishment device 4 may also perform a portion of the recovery operation of removing the item storage body 8 from the first workbench 32. The operation performed by the replenishment device 4 may be the operation of receiving and transporting the item storage body 8 placed on the first workbench 32 from the manufacturing equipment 2. In this case, since the manufacturing equipment 2 moves the item storage body 8 placed on the first workbench 32 to the replenishment device 4, the replenishment device 4 and the manufacturing equipment 2 jointly perform the recovery operation. Alternatively, the replenishment device 4 may perform the entire recovery operation of removing the item storage body 8 placed on the first workbench 32 from the first workbench 32.

[0044] The first workbench 32 provided in the manufacturing facility 2 is a place for placing the article storage bodies 8 supplied from the replenishment device 4 during the supply operation or for placing the article storage bodies 8 retrieved by the replenishment device 4 during the retrieval operation. Figure 2 This figure shows a state where an empty article storage unit 8, after having been used by the manufacturing equipment 2, is placed on the first workbench 32. In this embodiment, the article storage unit 8 is a box that accommodates a plurality of trays 80. The so-called "empty article storage unit 8" refers to an article storage unit 8 that accommodates empty trays 80 after having been used by the manufacturing equipment 2. Alternatively, the "empty article storage unit 8" may be an article storage unit 8 from which a tray 80 has been removed.

[0045] In addition, Figure 2 In the figure, the empty article storage body 8 retrieved from the manufacturing equipment 2 by the replenishment device 4 is shown as the article storage body 8A, and the article storage body 8 supplied to the manufacturing equipment 2 by the replenishment device 4 is shown as the article storage body 8B. In this case, after the replenishment device 4 performs the recovery operation of taking out the article storage body 8A from the first workbench 32, it performs the supply operation of placing the article storage body 8B containing articles on the first workbench 32 (refer to Figure 3). Thus, after empty article storage body 8A is removed from first workbench 32 of manufacturing equipment 2, article storage body 8B containing articles is supplied to first workbench 32 of manufacturing equipment 2. Therefore, manufacturing equipment 2 can manufacture products using the articles stored in article storage body 8 supplied to first workbench 32.

[0046] When the replenishment device 4 performs a recovery operation or a supply operation on the manufacturing facility 2, it moves the target second worktable 44 among one or more second worktables 44 to the same height as the first worktable 32 before transferring the item storage bodies 8. The target second worktable 44, in the case of a recovery operation, is the second worktable 44 used to place the item storage bodies 8 collected during the recovery operation, and in the case of a supply operation, is the second worktable 44 used to place the item storage bodies 8 to be supplied to the manufacturing facility 2. The control unit 400 controls the lifting device 402 based on the height information obtained from the storage unit 603 to move the target second worktable 44 to the same height as the first worktable 32. In this case, the control unit 400 can move the second worktable 44 to the same height as the first worktable 32 at a higher speed than when the lifting device 402 moves the second worktable 44 while searching for the position of the first worktable 32 using a sensor or the like. Therefore, in the component supply system 1 of the present embodiment, the time required for positioning the second stage 44 in the height direction can be shortened.

[0047] (2) Details

[0048] Below, reference Figures 1 to 3 The component supply system 1 according to this embodiment will be described in detail.

[0049] (2.1) Structure

[0050] As described above, the component supply system 1 includes a replenishing device 4 and a control component 400. The component supply system 1 may further include a manufacturing device 2. In addition, the component supply system 1 may further include a conveying robot 5. The conveying robot 5 can be connected to the replenishing device 4 and convey the replenishing device 4 while being connected to the replenishing device 4. In addition, the component supply system 1 may further include a management system 6 that can communicate with the control component 400. The management system 6 manages the operations of the replenishing device 4 and the conveying robot 5. In addition, the component supply system 1 may further include a host system 7 that manages the overall manufacturing plan of the product of the manufacturing device 2. In addition, the manufacturing device 2, the conveying robot 5, the management system 6 and the host system 7 are not necessary structures of the component supply system 1 and can be appropriately omitted.

[0051] The following describes the manufacturing equipment 2, the supply device 4, the transport robot 5, the management system 6, and the host system 7 of the component supply system 1. Figure 1 In the embodiment, the number of the manufacturing equipment 2 is one, but the number of the manufacturing equipment 2 may be multiple. Figure 1 In the figure, the number of the supply device 4 and the transport robot 5 is one, but the number of the supply device 4 and the transport robot 5 may be multiple.

[0052] In the following description, the vertical downward direction in the state where the manufacturing equipment 2 is installed on the moving surface G1 on which the transport robot 5 travels is defined as down, and the direction opposite to the vertical downward direction is defined as up. Figure 2 as well as Figure 3 As shown, in a state where the supply device 4 and the manufacturing equipment 2 transported by the transport robot 5 are opposite to each other, the direction in which the manufacturing equipment 2 is located when viewed from the supply device 4 is defined as the front, and the direction in which the supply device 4 is located when viewed from the manufacturing equipment 2 is defined as the rear for explanation.

[0053] (2.1.1) Manufacturing equipment

[0054] The manufacturing equipment 2 is, for example, a component mounting system that mounts electronic components on a circuit board.

[0055] The manufacturing facility 2 includes a mounting device (so-called mounter) 3D that mounts electronic components on a circuit board, and a component supply unit 3A that supplies components to the mounting device 3D.

[0056] The component supply unit 3A includes a component supply device 3B and a component storage device 3C.

[0057] The article storage bodies 8 are transferred between the component storage device 3C and the replenishment device 4. When the replenishment device 4 transported by the transport robot 5 is connected to the component storage device 3C via a connector, the article storage bodies 8 can be transferred between the component storage device 3C and the replenishment device 4.

[0058] The parts storage device 3C includes a metal main body 31. The main body 31 is provided with a first table 32 on which the article storage bodies 8 for transfer to and from the replenishment device 4 are placed, and a storage area 33 in which a plurality of trays 80 taken out of the article storage bodies 8 are arranged side by side in the vertical direction.

[0059] In addition, if Figure 1 As shown, the parts storage device 3C includes a control unit 300, a communication unit 301, and a storage and unloading device 302. When the replenishment device 4 transported by the transport robot 5 is connected to the parts storage device 3C, the article storage bodies 8 are transferred between the parts storage device 3C and the replenishment device 4.

[0060] When the component storage device 3C and the replenishing device 4 are connected, the communication unit 301 is in a state where it can communicate with the communication unit 401 of the replenishing device 4 .

[0061] The control unit 300 is primarily comprised of, for example, a computer system having one or more processors and memory. The functions of the control unit 300 are realized by the computer system's processor executing a program stored in the computer system's memory. The program can be stored in the memory, provided via a telecommunications link such as the Internet, or stored on a non-transitory recording medium such as a memory card. When the communication unit 301 receives an instruction regarding a handover operation from the replenishment device 4, the control unit 300 controls the loading and unloading device 302 to execute the handover operation.

[0062] The loading and unloading device 302 receives control instructions from the control unit 300 and performs the handover operation. The loading and unloading device 302 has, for example, a sliding table provided on the first workbench 32 so as to be able to slide back and forth in a direction parallel to the upper surface of the first workbench 32. The loading and unloading device 302 drives the sliding table, for example, with a cylinder, to move the article storage body 8 placed on the first workbench 32 to the second workbench 44 of the replenishment device 4. In addition, the loading and unloading device 302 drives the sliding table with a cylinder, etc. to move the article storage body 8 placed on the second workbench 44 of the replenishment device 4 to the first workbench 32. In addition, the loading and unloading device 302 takes out the tray 80 from the article storage body 8 placed on the first workbench 32 and stores it in the storage area 33. The loading and unloading device 302 also performs operations such as removing trays 80 from the storage area 33 and supplying them to the component supply device 3B, and receiving empty trays 80 whose components have been consumed from the component supply device 3B and storing them in the storage area 33. Furthermore, the loading and unloading device 302 performs operations such as removing empty trays 80 stored in the storage area 33 and loading empty trays 80 into the article storage unit 8 placed on the first workbench 32.

[0063] Furthermore, in the component storage device 3C, an indicator portion 34 having a slit 35 is installed at a location on the first work table 32 that faces the replenishment device 4. The indicator portion 34 is located at a position where a photoelectric sensor 45 can detect the presence of the indicator portion 34 when the second work table 44, which is the work target, is moved to the same height as the first work table 32. The surface of the indicator portion 34 is a mirror surface that fully reflects light output from the photoelectric sensor 45.

[0064] The component supply device 3B supplies the tray 80 supplied from the component storage device 3C to the manufacturing facility 2. The component supply device 3B also receives an empty tray 80 from the manufacturing facility 2 after components are consumed during the manufacturing process and transfers the empty tray 80 to the component storage device 3C.

[0065] For example, manufacturing equipment 2 removes components from trays 80 supplied by component supply device 3B and mounts them on substrates. Furthermore, once all components stored on trays 80 have been mounted, manufacturing equipment 2 returns the empty trays 80 to component supply device 3B and receives trays 80 containing components from component supply device 3B. Since component supply device 3B receives trays 80 stored in component storage device 3C and supplies them to manufacturing equipment 2, it prevents manufacturing equipment 2 from running out of components. Consequently, manufacturing equipment 2 can continue mounting electronic components on circuit boards.

[0066] The transfer operation of the tray 80 between the component storage device 3C, the component supply device 3B, and the manufacturing equipment 2 is an example and can be modified as appropriate.

[0067] Furthermore, the component supply unit 3A is composed of the component storage device 3C and the component supply device 3B, but the component storage device 3C and the component supply device 3B may be configured as a single device.

[0068] (2.1.2) Supply device

[0069] like Figure 2 as well as Figure 3 As shown, the replenishing device 4 includes a base portion 40 having wheels 41 mounted on a lower portion thereof, and a component replacement unit 42 provided on an upper side of the base portion 40 .

[0070] The parts exchange unit 42 includes a storage rack 43 having two second workbenches 44 and a lifting device 402 for moving the storage rack 43 in the vertical direction (raising or lowering). The two second workbenches 44 are arranged side by side. The upper second workbenches 44 are a recovery workbench 44A for placing the item storage bodies 8 retrieved from the parts storage device 3C during the recovery operation. The lower second workbench 44 is a supply workbench 44B for placing the item storage bodies 8 placed in the parts storage device 3C during the supply operation. In this way, the storage rack 43 has multiple second workbenches 44. The multiple second workbenches 44 include a recovery workbench 44A for placing the item storage bodies 8 removed from the first workbench 32 and a supply workbench 44B for placing the item storage bodies 8 placed on the first workbench 32.

[0071] Furthermore, the replenishing device 4 includes a control unit 400, a communication unit 401, and a photoelectric sensor 45. In the present embodiment, the replenishing device 4 includes a control unit 400.

[0072] When the supply device 4 is connected to the transport robot 5, the communication unit 401 is connected to the second communication unit 502 of the transport robot 5 via a wired communication path. The communication unit 401 has a communication function that allows it to communicate with the second communication unit 502 of the transport robot 5 via a serial communication method that complies with a communication protocol such as RS422 or RS485. Furthermore, when the connector of the supply device 4 is connected to the connector of the component storage device 3C, the communication unit 401 is connected to the communication unit 301 of the component storage device 3C via a wired communication path. The communication unit 401 has a communication function that allows it to communicate with the communication unit 301 of the component storage device 3C via a serial communication method that complies with a communication protocol such as RS422 or RS485. Furthermore, the communication unit 401 is not limited to communicating via a serial communication method and may also communicate via a communication method that complies with a communication protocol such as TCP / IP.

[0073] Lifting device 402 receives control commands from control unit 400 and moves storage rack 43 vertically (up or down). Lifting device 402 may include, for example, a rack formed vertically on the surface of storage rack 43 and an electric motor with a pinion meshing with the rack on its output shaft. By controlling the direction and amount of rotation of the motor by control unit 400, lifting device 402 can move storage rack 43 to a desired height. Lifting device 402 may also utilize an actuator, such as a pneumatic cylinder, to raise or lower storage rack 43, and its structure can be modified as appropriate.

[0074] The photoelectric sensor 45 is a photoelectric sensor for detecting the presence of the marking portion 34 provided on the component storage device 3C. It is installed on the storage rack 43. The photoelectric sensor 45 is mounted on the second work table 44. More specifically, when the replenishing device 4 is connected to the component storage device 3C, the photoelectric sensor 45 is mounted on the end (front end) of the second work table 44 that faces the component storage device 3C. In this embodiment, one photoelectric sensor 45 is mounted on each of the two second work tables 44 (the collection table 44A and the supply table 44B). Hereinafter, the photoelectric sensor 45 mounted on the collection table 44A may be referred to as the collection photoelectric sensor 45A, and the photoelectric sensor 45 mounted on the supply table 44B may be referred to as the supply photoelectric sensor 45B.

[0075] The photoelectric sensor 45 includes a light-emitting portion, such as an LED, that emits light, and a light-receiving portion, such as a photodiode, that receives light. When light emitted by the light-emitting portion of the photoelectric sensor 45 is reflected by an object, the reflected light is received by the light-receiving portion. Therefore, the photoelectric sensor 45 detects the presence of an object in front of the photoelectric sensor 45 based on whether the light-receiving portion receives the reflected light. The indicator portion 34 provided in the component storage device 3C is provided with a slit 35. If light from the photoelectric sensor 45 strikes a portion of the indicator portion 34 surface that is not provided with the slit 35, the light is reflected by the indicator portion 34 and enters the light-receiving portion. Consequently, the photoelectric sensor 45 detects the presence of an object and outputs an object detection signal to the control unit 400. On the other hand, if light from the photoelectric sensor 45 passes through the slit 35 provided in the indicator portion 34, the reflected light does not enter the light-receiving portion of the photoelectric sensor 45. Consequently, the photoelectric sensor 45 does not detect an object and outputs an object non-detection signal to the control unit 400. Here, the indicator portion 34 is provided so that the slit 35 provided in the indicator portion 34 is located slightly below the photoelectric sensor 45 when the second work table 44 to be worked on is moved to the same height as the first work table 32 .

[0076] The state in which the second workbench 44 of the work object is moved to the same height as the first workbench 32 refers to a state in which the upper surface of the second workbench 44 of the work object and the upper surface of the first workbench 32 are located at the same height. Furthermore, the state in which the upper surface of the second workbench 44 of the work object and the upper surface of the first workbench 32 are located at the same height may include a state in which there is an error, corresponding to a manufacturing error, between the height of the upper surface of the second workbench 44 of the work object and the height of the upper surface of the first workbench 32.

[0077] Control component 400 primarily comprises a computer system having one or more processors and memory. The functions of control component 400 are realized by the computer system's processor executing a program stored in the computer system's memory. The program may be stored in the memory, provided via a telecommunications link such as the Internet, or stored on a non-transitory recording medium such as a memory card. Control component 400 includes a control unit 403 and an acquisition unit 404. The terms "control unit 403" and "acquisition unit 404" merely represent the functions implemented by control component 400 and do not necessarily represent a physical structure.

[0078] The acquisition unit 404 acquires height information from the storage unit 603, which stores height information of the storage rack 43 during operation. The acquisition unit 404 acquires height information of the storage rack 43 during operation (collection operation and supply operation) from the storage unit 603 of the management system 6 via the transfer robot 5. In this embodiment, when the transfer robot 5 is connected to the replenishment device 4, the communication unit 401 can communicate with the first communication unit 501 of the transfer robot 5. Since the transfer robot 5 can communicate with the management system 6, the communication unit 401 can communicate with the management system 6 via the transfer robot 5. Through communication between the transfer robot 5 and the management system 6 via the communication unit 401, the acquisition unit 404 acquires height information from the storage unit 603 of the management system 6. Furthermore, the storage unit 603 of the management system 6 stores height information associated with the position information of the manufacturing equipment 2. Therefore, the acquisition unit 404 acquires height information associated with the position information of the manufacturing equipment 2 being the target of the operation from the storage unit 603. In other words, the control unit 400 acquires height information associated with the position information of the manufacturing equipment 2 being the target of the operation from the storage unit 603. The manufacturing equipment 2 as the target of the operation is the manufacturing equipment 2 as the target of the operation for the replenishment device 4 to perform the recovery operation or the supply operation of the article storage bodies 8.

[0079] For example, if the communication unit 401 receives an operation instruction from the management system 6, the control unit 403 controls the lifting device 402 based on the height information obtained by the acquisition unit 404, so that the second workbench 44 of the operation target is moved to the same height as the first workbench 32. In other words, if the control unit 400 receives an operation instruction from the management system 6, it controls the lifting device 402 based on the height information so that the second workbench 44 of the operation target is moved to the same height as the first workbench 32. The height information includes the height of the storage rack 43 during the recovery operation, that is, the recovery height H1 (refer to FIG. Figure 2 ) and the height of the storage rack 43 during the supply operation, that is, the supply height H2 (reference Figure 3 ) related information, therefore, the control unit 403 controls the lifting device 402 to move the second workbench 44 to the position indicated by the height information.

[0080] Alternatively, the control unit 403 can simultaneously control the lifting device 402 to move (raise or lower) the second table 44 while causing the photoelectric sensor 45 to detect the presence or absence of the marking portion 34. In this case, since the control unit 403 controls the lifting device 402 based on the detection result of the photoelectric sensor 45, the movement speed of the second table 44 (storage rack 43) is lower than when the second table 44 (storage rack 43) is moved to the position indicated by the height information. In other words, in this embodiment, since the control unit 403 controls the lifting device 402 based on the height information acquired by the acquisition unit 404 to move the second table 44 (storage rack 43) to the position indicated by the height information, the second table 44 can be moved at a higher speed than when the second table 44 (storage rack 43) is moved while simultaneously providing feedback on the detection result of the photoelectric sensor 45. Consequently, in the component supply system 1 of this embodiment, the time required to align the second table 44 in the height direction can be shortened.

[0081] (2.1.3) Delivery Robot

[0082] The transport robot 5 is, for example, an autonomous mobile robot (AMR) used in transport operations of the transport supply device 4 in a factory, but may also be an AGV (Automatic Guided Vehicle). The transport robot 5 moves, for example, by traveling on a moving surface G1 using one or more wheels 51. The moving surface G1 is the surface on which the transport robot 5 moves. When the transport robot 5 moves within a facility such as a factory, the floor of the facility serves as the moving surface G1. When the transport robot 5 moves outdoors, the ground serves as the moving surface G1.

[0083] like Figure 1 As shown, the transport robot 5 includes a control unit 500, a first communication unit 501, a second communication unit 502, and a drive system 503. Furthermore, the transport robot 5 includes a battery and operates using the power stored in the battery. Furthermore, the transport robot 5 includes a main body 50 that carries the control unit 500, the first communication unit 501, the second communication unit 502, and the drive system 503.

[0084] like Figure 2 as well as Figure 3As shown, the main body 50 is formed into a rectangular parallelepiped. A connection portion 52 capable of connecting to the replenishing device 4 is provided on the front surface of the main body 50 (the surface facing the replenishing device 4). The transport robot 5 transports the replenishing device 4 by traveling while connected to the replenishing device 4 via the connection portion 52. A production changeover operation area is provided on the moving surface G1 for performing production changeover operations. During these production changeover operations, empty trays 80 are removed from the item storage bodies 8 retrieved from the manufacturing equipment 2 by the replenishing device 4, and item storage bodies 8 containing multiple trays 80 loaded with components are loaded onto the replenishing device 4. The transport robot 5, for example, transports the replenishing device 4, loaded with the item storage bodies 8 containing multiple trays 80 loaded with components, from the production changeover operation area to the installation location of the manufacturing equipment 2. Furthermore, when the transport robot 5 transports the replenishing device 4, it travels with the transport robot 5 and the replenishing device 4 aligned side by side in the direction of travel. For example, the transport robot 5 may be in the leading position and pull the supply device 4 while traveling, or the transport robot 5 may be in the leading position and push the supply device 4 from behind while traveling. When the supply device 4 is connected to the manufacturing equipment 2, the supply device 4 and the manufacturing equipment 2 are connected by having the supply device 4 be in the leading position and the transport robot 5 push the supply device 4 from behind while traveling.

[0085] A plurality of wheels 51 are provided on the lower surface of the main body 50. These wheels 51 include a plurality of drive wheels driven by a drive system 503 and a plurality of driven wheels, free wheels whose rotational axes can rotate 360 ​​degrees within a plane parallel to the movement plane G1. The drive system 503 changes the rotational direction and speed of the drive wheels based on control commands from the control unit 400, enabling the transport robot 5 to travel in any direction.

[0086] The control unit 500 is primarily composed of a computer system having one or more processors and memory. The functions of the control unit 500 are realized by the computer system's processor executing a program stored in the computer system's memory. The program may be stored in the memory, provided via telecommunication lines such as the Internet, or stored on a non-transitory recording medium such as a memory card.

[0087] The transport robot 5 is equipped with a ranging sensor, such as LiDAR (Light Detection and Ranging), to detect surrounding objects. Furthermore, the transport robot 5 has a memory that stores electronic map data of the movement surface G1. The control unit 500 estimates the current position using SLAM (Simultaneous Localization and Mapping) technology, which utilizes ranging sensors, and controls the drive system 503 to autonomously move the robot to its destination.

[0088] The first communication unit 501 communicates with the management system 6. The first communication unit 501 can communicate with the management system 6 directly or indirectly via a repeater or the like. In this embodiment, the first communication unit 501 communicates with the repeater or the management system 6 via wireless communication using radio waves as a medium. The communication between the repeater or the management system 6 and the first communication unit 501 utilizes wireless communication compliant with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specified low-power wireless) that does not require a communication license.

[0089] When the transport robot 5 is coupled to the replenishing device 4, the second communication unit 502 is connected to the communication unit 401 of the replenishing device 4 via a wired communication path. The second communication unit 502 has a communication function that communicates with the communication unit 401 of the replenishing device 4 via a serial communication method that conforms to a communication protocol such as RS422 or RS485.

[0090] The transport robot 5 includes a first communication unit 501 capable of communicating with the management system 6 and a second communication unit 502 capable of communicating with the supply device 4. In this embodiment, the supply device 4 includes a control unit 400, so the transport robot 5 can communicate with both the management system 6 and the control unit 400.

[0091] (2.1.4) Management system

[0092] The management system 6 manages the transport operation of the supply device 4 performed by the transport robot 5. The management system 6 receives control instructions for controlling the supply device 4 and the transport robot 5 based on the manufacturing plan from a host system 7 that manages the manufacturing plan of the manufacturing system. Based on the control instructions received from the host system 7, the management system 6 controls the transport operation of the transport robot 5 and the replenishment operation of the supply device 4.

[0093] The management system 6 includes a control unit 600 , a first communication unit 601 , a second communication unit 602 , and a storage unit 603 .

[0094] The first communication unit 601 communicates with the transport robot 5. The first communication unit 601 can communicate with the transport robot 5 directly or indirectly via a repeater or the like. In this embodiment, the first communication unit 601 communicates with the repeater or the transport robot 5 via wireless communication using radio waves. The communication between the repeater or the transport robot 5 and the first communication unit 601 utilizes wireless communication compliant with standards such as Wi-Fi, Bluetooth, ZigBee, or low-power wireless (specified low-power wireless) that does not require a communication license.

[0095] The second communication unit 602 communicates with the host system 7 via a wide area network (WAN) such as the Internet, for example. The second communication unit 602 receives information related to the manufacturing plan from the host system 7, for example.

[0096] The storage unit 603 includes, for example, an electrically rewritable non-volatile memory such as an EEPROM (Electrically Erasable and Programmable ReadOnly Memory). The storage unit 603 stores, for example, height information and position information related to the setting position of the manufacturing equipment 2 in correspondence. The position information related to the setting position of the manufacturing equipment 2 is, for example, coordinate information representing the setting position through a two-dimensional orthogonal coordinate system with a given position of the moving surface G1 as the origin. The coordinate information includes the X-coordinate Px and the Y-coordinate Py of the setting position. The height information includes, for example: the recovery height H1 of the storage rack 43 when the recovery workbench 44A moves to the same height as the first workbench 32 (reference Figure 2 and the supply table 44B is moved to the same height as the first table 32 when the storage rack 43 of the supply height H2 (reference Figure 3 ). When there are multiple manufacturing devices 2, the storage unit 603 stores the coordinate information (X coordinate Px and Y coordinate Py) of the setting position of the manufacturing device 2 and the height information (recovery height H1 and supply height H2) for each of the multiple manufacturing devices 2 in correspondence. A serial number is assigned to each of the multiple manufacturing devices 2, and in the storage unit 603, the coordinate information and height information are stored in correspondence with the serial number of each of the multiple manufacturing devices 2 (refer to Table 1). In other words, in the storage unit 603, for each of the multiple manufacturing devices 2, the height information is stored in correspondence with the coordinate information. In addition, for a manufacturing device 2 whose height information is undetermined, only the coordinate information (X coordinate Px and Y coordinate Py) is stored in correspondence with the serial number of the manufacturing device 2, and the height information becomes a Null value. In Table 1, the recovery height H1 and the supply height H2 are displayed as "-", indicating that the recovery height H1 and the supply height H2 become Null values.

[0097]

Table 1

[0098]

[0099] The control unit 600 mainly comprises a computer system having one or more processors and memory. The functions of the control unit 600 are realized by the computer system's processor executing a program stored in the computer system's memory. The program can be stored in the memory, provided via a telecommunication line such as the Internet, or stored on a non-temporary recording medium such as a memory card. The control unit 600 includes the functions of a job instruction unit 604 and a data management unit 605. The job instruction unit 604 and the data management unit 605 merely represent the functions implemented by the control unit 600 and do not necessarily represent a physical structure.

[0100] The work instruction unit 604 generates a work instruction for causing the replenishing device 4 to perform a task (recovery or supply) based on the manufacturing plan received from the host system 7 by the second communication unit 602. Specifically, the management system 6 includes the work instruction unit 604, which transmits the work instruction for causing the replenishing device 4 to perform a task to the control unit 400. The work instruction includes, for example, identification information assigned to the replenishing device 4 performing the recovery or supply task, current position information related to the replenishing device 4, and location information related to the installation location of the manufacturing facility 2 for the replenishing device 4 to perform the task. The work instruction unit 604 transmits the work instruction, including the identification information and location information of the replenishing device 4 performing the recovery or supply task, and location information related to the installation location of the manufacturing facility 2, from the first communication unit 601 to the transport robot 5. Based on the work instruction from the management system 6, the transport robot 5 moves to the current position of the replenishing device 4, connects with the replenishing device 4, and transports the replenishing device 4 to the installation location of the manufacturing facility 2 for the task. When the transport robot 5 is connected to the replenishing device 4, the second communication unit 502 and the communication unit 401 can communicate. Subsequently, when the transport robot 5 transports the replenishing device 4 to the installation location of the manufacturing facility 2 to be operated and connects the replenishing device 4 to the manufacturing facility 2 to be operated, the control unit 400 of the replenishing device 4 obtains height information from the storage unit 603 of the management system 6 via the transport robot 5 and performs a recovery or supply operation based on the height information. Specifically, when the transport robot 5 is connected to the replenishing device 4, the operation instruction unit 604 transmits an operation instruction to the control unit 400 via the transport robot 5, and the control unit 400 of the replenishing device 4 performs the operation based on the operation instruction.

[0101] The data management unit 605 updates the height information stored in the storage unit 603. If the recovery height H1 or supply height H2 stored in the storage unit 603 differs from the actual height, the replenishment device 4 transmits the actual recovery height H1 or supply height H2 to the management system 6 via the conveying robot 5. If the first communication unit 601 receives the actual recovery height H1 or supply height H2 from the conveying robot 5, the data management unit 605 updates the value of the recovery height H1 or supply height H2 stored in correspondence with the position information of the manufacturing equipment 2 being worked on. Furthermore, if the recovery height H1 or supply height H2 is not stored in the storage unit 603, the replenishment device 4 transmits the actual recovery height H1 or supply height H2 to the management system 6 via the conveying robot 5. If the first communication unit 601 receives the actual recovery height H1 or supply height H2 from the conveying robot 5, the data management unit 605 updates the value of the recovery height H1 or supply height H2 stored in correspondence with the position information of the manufacturing equipment 2 being worked on.

[0102] (2.2) Action description

[0103] based on Figure 4 The operation of the component supply system 1 of this embodiment will be described below. Figure 4 The flowchart shown is merely an example of the component supply method performed by the component supply system 1 , and the order of the processes may be changed as appropriate, or processes may be added or omitted as appropriate.

[0104] Based on the manufacturing plan and other factors, the operation instruction unit 604 of the management system 6 creates an operation instruction that includes identification information and current location information of the replenishment device 4 to be transported, as well as location information of the manufacturing facility 2 to be transported. The operation instruction is then transmitted from the first communication unit 601 to the transport robot 5. Upon receipt of the operation instruction from the management system 6 by the first communication unit 501 of the transport robot 5, the control unit 500 transports the replenishment device 4 to the location of the manufacturing facility 2 based on the operation instruction, thereby connecting the replenishment device 4 to the component storage device 3C (S1).

[0105] Since communication between the communication unit 401 and the communication unit 301 is possible, when the control unit 400 detects that the supply device 4 is connected to the component storage device 3C, the communication unit 401 transmits a transmission request requesting the transmission of height information to the transfer robot 5. When the second communication unit 502 of the transfer robot 5 receives the transmission request from the supply device 4, the first communication unit 501 transmits a transmission request for the position information and height information of the manufacturing equipment 2 to the management system 6. When the first communication unit 601 of the management system 6 receives the transmission request for the position information and height information of the manufacturing equipment 2 from the transfer robot 5, the operation instruction unit 604 retrieves the height information associated with the position information of the manufacturing equipment 2 from the storage unit 603 and transmits the retrieved height information from the first communication unit 601 to the transfer robot 5. When the first communication unit 501 of the transfer robot 5 receives the height information from the operation instruction unit 604, the control unit 500 causes the second communication unit 502 to transmit the height information to the supply device 4.

[0106] When the communication unit 401 of the replenishment device 4 receives the height information from the transport robot 5, the acquisition unit 404 of the control unit 400 acquires the height information received from the transport robot 5. When the acquisition unit 404 acquires the height information, the control unit 403 determines whether the height information is a Null value (S2).

[0107] If the height information is not a Null value (S2: No), the control unit 403 controls the lifting device 402 to move the storage rack 43 to the collection height H1 specified in the height information (S3). Once the storage rack 43 reaches collection height H1, the control unit 403 determines whether the object has passed through the slit 35 of the marking unit 34 based on the detection results of the collection photoelectric sensor 45A located on the collection table 44A (S4). If the control unit 403 receives an object non-detection signal after receiving an object detection signal from the collection photoelectric sensor 45A, and then receives an object detection signal again, it determines that the object has passed through the slit 35.

[0108] If, in step S4, the collection photoelectric sensor 45A detects that the item has passed through the slit 35 of the marking portion 34 (S4: YES), the control unit 403 determines that the collection table 44A has been moved to the same height as the first table 32 and causes the loading and unloading device 302 of the component storage system 3C to retrieve the item storage unit 8 (S5). In the component storage system 3C, the loading and unloading device 302 moves the empty item storage unit 8A placed on the first table 32 to the collection table 44A.

[0109] When the storage / removal device 302 completes the collection of the item storage bodies 8, the control unit 403 controls the lifting device 402 to move the storage rack 43 to the supply height H2 specified in the height information (S6). Once the storage rack 43 reaches the supply height H2, the control unit 403 determines whether the item has passed through the slit 35 of the marking unit 34 based on the detection result of the supply photoelectric sensor 45B located on the supply table 44B (S7). If the control unit 403 receives an object detection signal from the supply photoelectric sensor 45B followed by an object non-detection signal, and then receives an object detection signal again, it determines that the item has passed through the slit 35.

[0110] If, in step S7, the supply photoelectric sensor 45B detects passage through the slit 35 (S7: YES), the control unit 403 determines that the supply table 44B has moved to the same height as the first table 32 and causes the loading and unloading device 302 of the component storage system 3C to supply the item storage unit 8 (S8). In the component storage system 3C, the loading and unloading device 302 moves the item storage unit 8B placed on the supply table 44B to the first table 32.

[0111] When the loading and unloading device 302 completes its supply operation, the control unit 400 transmits a notification message from the communication unit 401 to the transport robot 5, notifying the operator of the completion of the operation. When the transport robot 5's second communication unit 502 receives the completion notification message from the replenishing device 4, the control unit 500 controls the drive system 503 to move the main body 50, thereby detaching the replenishing device 4 from the manufacturing facility 2 and transporting it to a designated waiting area. Furthermore, the control unit 500 transmits a notification message from the first communication unit 501 to the management system 6, notifying the operator of the completion of the replenishing device 4's operation. Based on the notification message received from the replenishing device 4 via the transport robot 5, the management system 6 can determine that the replenishing device 4's operation has been completed.

[0112] However, if the height information in step S2 is a null value (S2: Yes), the control unit 400 adjusts the height of the collection table 44A (i.e., the height of the storage rack 43) based on the detection result of the collection photoelectric sensor 45A so that the height of the collection table 44A matches the height of the first table 32 (S9). The control unit 400 controls the lifting device 402 to raise the storage rack 43 at a low speed. At the same time, based on the detection result of the collection photoelectric sensor 45A, the control unit 400 detects whether the storage rack 43 has passed through the slit 35 of the marking portion 34. If the control unit 400 detects that the storage rack 43 has passed through the slit 35 of the marking portion 34 based on the detection result of the collection photoelectric sensor 45A, the control unit 400 controls the lifting device 402 to stop the storage rack 43. The control unit 400 stores the height of the storage rack 43 at this time in the memory as the collection height H1. Then, in a state where the collecting table 44A is moved to the same height as the first table 32 , the control unit 403 causes the loading and unloading device 302 of the component storage device 3C to perform a collecting operation of the article storage bodies 8 ( S10 ).

[0113] After the collection operation in step S10 is completed, the control unit 400 adjusts the height of the supply table 44B (i.e., the height of the storage rack 43) based on the detection result of the supply photoelectric sensor 45B so that the height of the supply table 44B is aligned with the height of the first table 32 (S11). The control unit 400 controls the lifting device 402 to raise the storage rack 43 at a low speed. At the same time, based on the detection result of the supply photoelectric sensor 45B, the control unit 400 detects whether the storage rack 43 has passed through the slit 35 of the marking portion 34. If the control unit 400 detects that the storage rack 43 has passed through the slit 35 of the marking portion 34 based on the detection result of the supply photoelectric sensor 45B, the control unit 400 controls the lifting device 402 to stop the storage rack 43. The control unit 400 stores the height of the storage rack 43 at this time in the memory as the supply height H2. Then, in a state where the supply table 44B has been moved to the same height as the first table 32 , the control unit 403 causes the loading and unloading device 302 of the component storage device 3C to perform a supply operation of the article storage bodies 8 ( S12 ).

[0114] When the supply operation in step S12 is completed, the control unit 400 transmits the position information of the manufacturing equipment 2 and the information on the recovery height H1 and the supply height H2 from the communication unit 401 to the management system 6 via the conveying robot 5. When the first communication unit 601 of the management system 6 receives the position information of the manufacturing equipment 2 and the information on the recovery height H1 and the supply height H2 via the conveying robot 5, the data management unit 605 registers the information on the recovery height H1 and the supply height H2 in the storage unit 603 in association with the position information of the manufacturing equipment 2. This allows the storage unit 603 to store the information on the recovery height H1 and the supply height H2 in association with the position information of the manufacturing equipment 2, even if the information on the recovery height H1 and the supply height H2 is not registered in association with the position information of the manufacturing equipment 2.

[0115] Furthermore, when the loading and unloading device 302 completes its supply operation, the control unit 400 transmits a notification message from the communication unit 401 to the transport robot 5, notifying the completion of the operation. When the transport robot 5's second communication unit 502 receives the completion notification message from the replenishing device 4, the control unit 500 controls the drive system 503 to move the main body 50, thereby detaching the replenishing device 4 from the manufacturing facility 2 and transporting it to a designated waiting area. Furthermore, the control unit 500 transmits a notification message from the first communication unit 501 to the management system 6, notifying the replenishing device 4 of the completion of its operation. Based on the notification message received from the replenishing device 4 via the transport robot 5, the management system 6 can determine that the replenishing device 4 has completed its operation.

[0116] However, if passage through the slit 35 of the marking portion 34 is not detected in step S4 (S4: No), the control unit 400 determines that the height of the recovery table 44A does not match the height of the first table 32. In this case, the control unit 400 adjusts the height of the recovery table 44A (i.e., the height of the storage rack 43) based on the detection result of the recovery photoelectric sensor 45A so that the height of the recovery table 44A matches the height of the first table 32 (S9). While controlling the lifting device 402 to move the storage rack 43 at a low speed (up or down), the control unit 400 detects whether the storage rack 43 has passed through the slit 35 of the marking portion 34 based on the detection result of the recovery photoelectric sensor 45A. If the control unit 400 detects that the storage rack 43 has passed through the slit 35 of the marking portion 34 based on the detection result of the recovery photoelectric sensor 45A, it stops the storage rack 43 at that position and then causes the storage and unloading device 302 of the component storage device 3C to perform the recovery operation (S10). The processing after step S10 is as described above, and therefore the description thereof will be omitted.

[0117] If passage through the slit 35 of the marking section 34 is not detected in step S7 (S7: No), the control unit 400 determines that the height of the supply table 44B does not match the height of the first table 32. In this case, the control unit 400 adjusts the height of the supply table 44B (i.e., the height of the storage rack 43) based on the detection result of the supply photoelectric sensor 45B so that the height of the supply table 44B matches the height of the first table 32 (S11). While controlling the lifting device 402 to move the storage rack 43 at a low speed (up or down), the control unit 400 detects passage through the slit 35 of the marking section 34 based on the detection result of the supply photoelectric sensor 45B. If passage through the slit 35 of the marking section 34 is detected based on the detection result of the supply photoelectric sensor 45B, the control unit 400 stops the storage rack 43 at that position and then performs the supply operation (S12). The processing after step S12 is as described above, and its description is omitted.

[0118] As described above, when performing a recovery operation, the control unit 400 controls the lifting device 402 so that the recovery table 44A is moved to the same height as the first table 32, and then causes the replenishing device 4 to perform the recovery operation. Furthermore, when performing a supply operation, the control unit 400 controls the lifting device 402 so that the supply table 44B is moved to the same height as the first table 32, and then causes the replenishing device 4 to perform the supply operation. Therefore, in this embodiment, a single replenishing device 4 can perform both the recovery operation and the supply operation.

[0119] Furthermore, when the lifting device 402 moves the second workbench 44, the target workbench, to the same height as the first workbench 32, and the photoelectric sensor 45 does not detect the presence of the marking portion 34, the control unit 400 controls the lifting device 402 to raise or lower the storage rack 43, stopping the storage rack 43 at the position where the photoelectric sensor 45 detects the presence of the marking portion 34. Furthermore, the photoelectric sensor 45 detecting the presence of the marking portion 34 can include detecting a portion of the marking portion 34 where the slit 35 is not provided, and detecting that light from the photoelectric sensor 45 has passed through the slit 35 provided in the marking portion 34. If the height information stored in the storage unit 603 differs from the actual height, even if the control unit 400 controls the lifting device 402 based on the height information to move the second workbench 44, the target workbench, to the same height as the first workbench 32, there is a possibility that the photoelectric sensor 45 will not detect the presence of the marking portion 34. In this case, the control component 400 controls the lifting device 402 to lift the storage rack 43, and stops the storage rack 43 at the position where the photoelectric sensor 45 detects the existence of the identification part 34 (that is, the position passing through the slit 35). Therefore, the second workbench 44 of the work object can be moved to the same height as the first workbench 32 to perform recovery operations or supply operations.

[0120] Then, when the control unit 400 controls the lifting device 402 to raise or lower the storage rack 43, thereby stopping the storage rack 43 at the position where the photoelectric sensor 45 detects the presence of the identification portion 34, the data management unit 605 stores the height of the storage rack 43 at the time when the photoelectric sensor 45 detects the presence of the identification portion 34 as height information in the storage unit 603. Thus, the data management unit 605 can update the height information stored in the storage unit 603 to the actual value.

[0121] (3) Modification

[0122] The above embodiment is only one of various embodiments of the present disclosure. As long as the above embodiment can achieve the purpose of this disclosure, various changes can be made to the design, etc. Hereinafter, the above embodiment may also be referred to as the basic structure.

[0123] Functions similar to those of the component supply system 1 can be embodied by a component supply method, a computer program, or a non-temporary recording medium recording the program. One embodiment of the component supply method is a component supply method in which a replenishment device 4 performs operations including at least one of a supply operation and a recovery operation. The supply operation is the operation of placing the item storage body 8 on the first workbench 32 provided on the manufacturing facility 2 in order to transfer the item storage body 8 that stores items used in the manufacturing process of the manufacturing facility 2. The recovery operation is the operation of removing the item storage body 8 placed on the first workbench 32 from the first workbench 32 after the items have been consumed. The replenishment device 4 includes: a storage rack 43 having one or more second workbenches 44 capable of placing the item storage bodies 8; and a lifting device 402 for raising and lowering the storage rack 43. The component supply method includes an acquisition step, a lifting control step, and an operation execution step. In the acquisition step, height information is acquired from a storage unit 603 that stores height information of the storage rack 43 during the operation. In the lifting control step, the lifting device 402 is controlled based on the height information acquired in the acquisition step so that the second work table 44 selected from the one or more second work tables 44 as the work target is moved to the same height as the first work table 32. In the work execution step, the work is executed with the second work table 44 as the work target moved to the same height as the first work table 32. A (computer) program according to one embodiment is a program for causing a computer system to execute a component supply method.

[0124] The following lists modifications of the above-mentioned embodiment. The above-mentioned basic structure and modifications, as well as the modifications themselves, can be used in combination as appropriate.

[0125] The execution subject of the component supply system 1 or the component supply method in the present disclosure includes a computer system. The computer system has a processor and a memory as hardware as its main structure. The functions of the execution subject of the component supply system 1 or the component supply method in the present disclosure are realized by the processor executing the program recorded in the memory of the computer system. The program can be pre-recorded in the memory of the computer system, or provided through an electrical communication line, or recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that is readable 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) or ULSI (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after LSI manufacturing, or logic devices that can reconfigure the internal connections or circuit partitions of an LSI, can also be used as processors. Multiple electronic circuits can be integrated into a single chip or distributed across multiple chips. Multiple chips can be integrated into a single device or distributed across multiple devices. The computer system described here includes a microcontroller having one or more processors and one or more memories. Therefore, a microcontroller is also composed of one or more electronic circuits including a conductive integrated circuit or a large-scale integrated circuit.

[0126] Furthermore, it is not essential for component supply system 1 to integrate multiple functions within a single housing. The components of component supply system 1 may be dispersed across multiple housings. Furthermore, at least some of the functions of component supply system 1 may be implemented via the cloud (cloud computing).

[0127] Conversely, in the first embodiment, at least a part of the functions of the component supply system 1 that are dispersed across a plurality of devices may be integrated into a single housing.

[0128] In the above embodiment, the replenishing device 4 includes one recovery table 44A and one supply table 44B, but may include multiple recovery tables 44A and supply tables 44B. Alternatively, the replenishing device 4 may include only one of the recovery table 44A and the supply table 44B.

[0129] In the above embodiment, the supply device 4 includes the function of the control unit 400. However, the transfer robot 5 may also include the function of the control unit 400. If the transfer robot 5 includes the function of the control unit 400, the control unit 500 included in the transfer robot 5 can control the lifting device 402 of the supply device 4 when the transfer robot 5 and the supply device 4 are connected.

[0130] In the above embodiment, the height information is stored in correspondence with the position information of the manufacturing equipment 2 in the storage unit 603 of the management system 6, but the height information may also be stored in correspondence with the position information of the manufacturing equipment 2 in the storage unit of the conveying robot 5.

[0131] Furthermore, in the above-described embodiment, the management system 6 and the host system 7 are configured by different servers, but the management system 6 and the host system 7 may be configured by a single server.

[0132] (Summarize)

[0133] Based on the above-described embodiments and the like, the following aspects are disclosed.

[0134] The first embodiment of the component supply system (1) comprises: a supply device (4); and a control component (400) that controls the supply device (4). The supply device (4) performs an operation including at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage body (8) on a first workbench (32) provided on the manufacturing equipment (2) in order to transfer an item storage body (8) for storing items used in the manufacturing process of the manufacturing equipment (2). The recovery operation is an operation of removing the item storage body (8) placed on the first workbench (32) from the first workbench (32) after the items are consumed. The supply device (4) comprises: a storage rack (43) having one or more second workbench (44) capable of carrying the item storage body (8); and a lifting device (402) for raising and lowering the storage rack (43). The control unit (400) controls the lifting device (402) based on height information obtained from a storage unit (603) storing height information of the storage rack (43) during operation, so that the second workbench (44) selected from one or more second workbench (44) as the operation target moves to the same height as the first workbench (32). The control unit (400) controls the supply device (4) to perform the operation in a state where the second workbench (44) as the operation target moves to the same height as the first workbench (32).

[0135] According to this method, when the supply device (4) performs a recovery operation or a supply operation on the manufacturing equipment (2), the second workbench (44) of the work object among one or more second workbench (44) is moved to the same height as the first workbench (32) and then the item storage body (8) is handed over. Here, the control component (400) controls the lifting device (402) based on the height information obtained from the storage unit (603) so that the second workbench (44) of the work object is moved to the same height as the first workbench (32). In this case, compared with the case where the control component (400) searches for the position of the first workbench (32) using a sensor or the like and moves the second workbench (44) using the lifting device (402), the second workbench (44) can be moved to the same height as the first workbench (32) at a high speed. Therefore, in the component supply system (1) of this method, the time required for positioning the second workbench (44) in the height direction can be shortened.

[0136] The second embodiment of the component supply system (1) is based on the first embodiment and further includes: a management system (6) that can communicate with the control component (400). The management system (6) has: an operation instruction unit (604) that sends an operation instruction for causing the supply device (4) to perform an operation to the control component (400). Upon receiving the operation instruction from the management system (6), the control component (400) controls the lifting device (402) based on the height information so that the second workbench (44) of the operation object is moved to the same height as the first workbench (32).

[0137] According to this method, the control component (400) can receive an operation instruction from the management system (6) to perform an operation including at least one of a recovery operation and a supply operation.

[0138] The third embodiment of the component supply system (1) is based on the second embodiment and further includes: a conveying robot (5) that can be connected to the supply device (4) and transports the supply device (4) when connected to the supply device (4). The supply device (4) has a control component (400). The conveying robot (5) can communicate with the management system (6) and the control component (400). When the conveying robot (5) is connected to the supply device (4), the operation instruction unit (604) sends an operation instruction to the control component (400) via the conveying robot (5).

[0139] According to this method, when the transport robot (5) is connected to the supply device (4), the operation instruction unit (604) sends an operation instruction to the control unit (400) via the transport robot (5). Therefore, the supply device (4) does not need to have a communication function that can directly communicate with the management system (6), which can reduce the manufacturing cost of the supply device (4).

[0140] In a fourth embodiment of a component supply system (1), in addition to the third embodiment, a storage unit (603) stores height information in correspondence with position information related to an installation position of a manufacturing device (2). A control unit (400) obtains the height information corresponding to the position information of the manufacturing device (2) to be operated from the storage unit (603).

[0141] According to this method, since the height information is stored in the storage unit (603) in correspondence with the position information related to the installation position of the manufacturing equipment (2), the control unit (400) can obtain the height information based on the position information of the manufacturing equipment (2). Therefore, the control unit (400) does not need to include a detection unit for detecting identification information of the manufacturing equipment (2) assigned to the work object, etc., and the manufacturing cost of the component supply system (1) can be reduced.

[0142] In the component supply system (1) of the fifth embodiment, based on the fourth embodiment, a photoelectric sensor (45) is provided on the storage rack (43) for detecting the presence or absence of the identification portion (34) provided on the first workbench (32). When the second workbench (44) of the work object is moved to the same height as the first workbench (32), the identification portion (34) is provided at a position where the photoelectric sensor (45) can detect the presence of the identification portion (34). When the lifting device (402) moves the second workbench (44) of the work object to the same height as the first workbench (32), if the photoelectric sensor (45) does not detect the presence of the identification portion (34), the control component (400) controls the lifting device (402) to lift the storage rack (43) and stops the storage rack (43) at the position where the photoelectric sensor (45) detects the presence of the identification portion (34).

[0143] According to this method, if the height information stored in the storage unit (603) is different from the actual height, even if the control unit (400) controls the lifting device (402) based on the height information so that the second workbench (44) of the work object is moved to the same height as the first workbench (32), there is a possibility that the photoelectric sensor (45) cannot detect the presence of the identification portion (34). In this case, the control unit (400) controls the lifting device (402) to lift the storage rack (43) and stops the storage rack (43) at the position where the photoelectric sensor (45) detects the presence of the identification portion (34). Therefore, the collection operation or the supply operation can be performed in a state where the second workbench (44) of the work object is moved to the same height as the first workbench (32).

[0144] In the sixth embodiment of the component supply system (1), based on the fifth embodiment, the control component (400) controls the lifting device (402) to lift and lower the storage rack (43), and stops the storage rack (43) at a position where the photoelectric sensor (45) detects the presence of the identification portion (34). In this case, the height of the storage rack (43) when the photoelectric sensor (45) detects the presence of the identification portion (34) is stored in the storage unit (603) as height information.

[0145] According to this method, the height information stored in the storage unit (603) can be updated.

[0146] In the seventh embodiment of the component supply system (1), based on any one of the first to sixth embodiments, the storage rack (43) has a plurality of second workbenches (44). The plurality of second workbenches (44) include: a recovery workbench (44A) for placing the article storage body (8) taken out from the first workbench (32); and a supply workbench (44B) for placing the article storage body (8) placed on the first workbench (32). When performing a recovery operation, the control component (400) controls the lifting device (402) so that the recovery workbench (44A) moves to the same height as the first workbench (32), and causes the supply device (4) to perform a recovery operation. When performing a supply operation, the control component (400) controls the lifting device (402) so that the supply workbench (44B) moves to the same height as the first workbench (32), and causes the supply device (4) to perform a supply operation.

[0147] According to this aspect, both the recovery operation and the supply operation can be performed.

[0148] The control component (400) of the eighth embodiment comprises: a control unit (403) that controls a supply device (4); and an acquisition unit (404). The supply device (4) performs an operation including at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage body (8) on a first workbench (32) provided on the manufacturing equipment (2) in order to transfer an item storage body (8) for storing items used in the manufacturing process of the manufacturing equipment (2). The recovery operation is an operation of removing the item storage body (8) placed on the first workbench (32) after the items are consumed. The supply device (4) comprises: a storage rack (43) having one or more second workbench (44) capable of carrying the item storage body (8); and a lifting device (402) for lifting and lowering the storage rack (43). The acquisition unit (404) obtains height information from a storage unit (603) that stores height information of the storage rack (43) during the operation. The control unit (403) controls the lifting device (402) based on the height information acquired by the acquisition unit (404) so ​​that the second workbench (44) selected from the one or more second workbench (44) as the work target moves to the same height as the first workbench (32). The control unit (403) controls the supply device (4) to perform the operation in a state where the second workbench (44) as the work target moves to the same height as the first workbench (32).

[0149] According to this method, when the supply device (4) performs a recovery operation or a supply operation on the manufacturing equipment (2), the second workbench (44) of the one or more second workbench (44) is moved to the same height as the first workbench (32) and then the item storage body (8) is handed over. Here, the control unit (403) controls the lifting device (402) based on the height information obtained from the storage unit (603) so that the second workbench (44) of the workbench (32) is moved to the same height as the first workbench (32). In this case, compared with the case where the control unit (403) searches for the position of the first workbench (32) using a sensor or the like and moves the second workbench (44) using the lifting device (402), the second workbench (44) can be moved to the same height as the first workbench (32) at a high speed. Therefore, in the control component (400) of this method, the time required for positioning the second workbench (44) in the height direction can be shortened.

[0150] The ninth aspect of the component supply method is a component supply method in which a supply device (4) performs operations including at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage body (8) on a first workbench (32) provided on the manufacturing equipment (2) in order to transfer an item storage body (8) for storing items used in the manufacturing process of the manufacturing equipment (2). The recovery operation is an operation of removing the item storage body (8) placed on the first workbench (32) after the items are consumed from the first workbench (32). The supply device (4) has: a storage rack (43) having one or more second workbench (44) capable of carrying the item storage body (8); and a lifting device (402) for lifting the storage rack (43). The component supply method includes an acquisition step, a lifting control step, and an operation execution step. In the acquisition step, height information is acquired from a storage unit (603) that stores height information of the storage rack (43) when the operation is performed. In the lifting control step, the lifting device (402) is controlled based on the height information obtained in the acquisition step so that the second workbench (44) selected from the one or more second workbench (44) as the work target moves to the same height as the first workbench (32). In the work execution step, the work is executed in a state in which the second workbench (44) as the work target moves to the same height as the first workbench (32).

[0151] According to this method, when the replenishment device (4) performs a recovery operation or a supply operation on the manufacturing equipment (2), the second workbench (44) of the one or more second workbench (44) is moved to the same height as the first workbench (32) and then the item storage body (8) is handed over. Here, in the lifting control step, the lifting device (402) is controlled based on the height information obtained from the storage unit (603) so that the second workbench (44) of the workbench (32) is moved to the same height as the first workbench (32). In this case, in the lifting control step, the second workbench (44) can be moved to the same height as the first workbench (32) at a high speed compared to the case where the second workbench (44) is moved by the lifting device (402) while searching the position of the first workbench (32) by using a sensor or the like. Therefore, the time required for positioning the second workbench (44) in the height direction can be shortened.

[0152] The computer program product according to the tenth aspect is a computer program product including a computer program. When the computer program is executed on a computer system, each step of the component supply method is realized.

[0153] According to this method, as in the ninth method, the time required for positioning the second worktable (44) in the height direction can be shortened.

[0154] The present invention is not limited to the above-described embodiment, and various configurations (including modifications) of the component supply system (1) according to the embodiment can be embodied by a component supply method, a (computer) program, or a non-transitory recording medium recording the program.

[0155] The structures involved in the second to seventh aspects are not essential structures of the component supply system (1) and can be omitted as appropriate.

Claims

1. A component supply system comprising: a replenishing device that performs at least one of a supply operation and a collection operation, wherein the supply operation is to place an item storage body for storing items used in a manufacturing process of the manufacturing equipment on a first workbench provided in the manufacturing equipment for delivery of the item storage body, and the collection operation is to take out the item storage body placed on the first workbench after the item is consumed; and a control assembly, which controls the replenishing device, The supply device comprises: a storage rack having one or more second work tables capable of placing the article storage bodies; and A lifting device that enables the storage rack to rise and fall. The control component controls the lifting device based on the height information obtained from the storage unit that stores the height information of the storage rack when performing the operation, so that the second workbench of the operation object selected from the one or more second workbench moves to the same height as the first workbench, and when the second workbench of the operation object moves to the same height as the first workbench, the supply device performs the operation.

2. The component supply system according to claim 1, wherein: The component supply system further comprises: a management system capable of communicating with said control component, The management system has: an operation instruction unit that sends an operation instruction for causing the supply device to perform the operation to the control component, Upon receiving the operation instruction from the management system, the control module controls the lifting device based on the height information so that the second workbench of the operation target moves to the same height as the first workbench.

3. The component supply system according to claim 2, wherein: The component supply system further comprises: a transport robot capable of being connected to the supply device and transporting the supply device while connected to the supply device; The supply device has the control component, The transport robot can communicate with the management system and the control component, In a state where the transport robot is coupled to the replenishing device, the operation instruction unit transmits the operation instruction to the control unit via the transport robot.

4. The component supply system according to claim 3, wherein: The storage unit stores the height information in correspondence with the position information related to the installation position of the manufacturing equipment. The control unit acquires the height information associated with the position information of the manufacturing equipment to be worked on from the storage unit.

5. The component supply system according to claim 4, wherein: The storage rack is provided with a photoelectric sensor for detecting the presence or absence of the marking portion provided on the first workbench. When the second workbench of the work object is moved to the same height as the first workbench, the marking portion is provided at a position where the photoelectric sensor can detect the presence of the marking portion. When the lifting device moves the second workbench of the work object to the same height as the first workbench, and the photoelectric sensor does not detect the existence of the identification part, the control component controls the lifting device to lift the storage rack and stops the storage rack at the position where the photoelectric sensor detects the existence of the identification part.

6. The component supply system according to claim 5, wherein: When the control component controls the lifting device to lift the storage rack and stop the storage rack at the position where the photoelectric sensor detects the presence of the identification part, the height of the storage rack when the photoelectric sensor detects the presence of the identification part is stored in the storage unit as the height information.

7. The component supply system according to any one of claims 1 to 6, wherein: The storage rack has a plurality of the second workbenches. The plurality of second workstations include: a recovery workbench for placing the article storage body taken out from the first workbench; and a supply workbench for placing the article storage body placed on the first workbench, When the recovery operation is being performed, the control component controls the lifting device so that the recovery workbench is moved to the same height as the first workbench, and causes the supply device to perform the recovery operation. When the supply operation is performed, the control unit controls the lifting device so that the supply table is moved to the same height as the first table, thereby causing the replenishing device to perform the supply operation.

8. A control component comprising: a control unit that controls a replenishing device, the replenishing device performing at least one of a supply operation and a collection operation, wherein the supply operation is to place an item storage body on a first workbench provided in the manufacturing equipment for handing over the item storage body that stores items used in the manufacturing process of the manufacturing equipment, and the collection operation is to take out the item storage body placed on the first workbench after the item is consumed, from the first workbench; and Acquisition Department, The supply device comprises: a storage rack having one or more second work tables capable of placing the article storage bodies; and A lifting device that enables the storage rack to rise and fall. The acquiring unit acquires the height information from a storage unit storing the height information of the storage rack when the operation is performed. The control unit controls the lifting device based on the height information obtained by the acquisition unit so that the second workbench of the work object selected from the one or more second workbench moves to the same height as the first workbench, and when the second workbench of the work object moves to the same height as the first workbench, the supply device performs the work.

9. A component supply method, wherein the operation is performed by a replenishment device that performs an operation including at least one of a supply operation and a recovery operation, In the supply operation, the article storage body is placed on a first workbench provided on the manufacturing equipment in order to transfer the article storage body for storing articles used in the manufacturing process of the manufacturing equipment. In the collection operation, the article storage body placed on the first workbench is taken out from the first workbench after the articles are consumed. The supply device comprises: a storage rack having one or more second work tables capable of placing the article storage bodies; and A lifting device that enables the storage rack to rise and fall. The component supply method comprises: an acquiring step of acquiring the height information from a storage unit storing the height information of the storage rack when performing the operation; a lifting control step of controlling the lifting device based on the height information acquired in the acquiring step so that a second workbench selected from the one or more second workbenches for a work object is moved to the same height as the first workbench; and The work execution step executes the work in a state where the second workbench of the work target is moved to the same height as the first workbench.

10. A computer program product comprising a computer program, Each step of the component supply method according to claim 9 is realized by causing a computer system to execute the computer program.

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