COMPONENT ASSEMBLY SYSTEM

Abstract

Component assembly system (1) comprising: a component assembly line (2L) in which several component assembly machines (2) are interconnected, each of the component assembly machines (2) being designed to mount a component onto a substrate (P) to produce a component-equipped substrate; a work plan management device (3) being designed to manage a plan for preparatory work to be carried out by an employee in accordance with the production of the component-equipped substrate in a work area (WA) pre-configured at each of the several component assembly machines (2); and an unmanned transport vehicle (6) capable of autonomous movement along a predetermined route (6R) passing by the work areas (WA), wherein the work plan management device (3) comprises an activity target specification unit (3421) being designed to define an activity target area (WA1, WA3, WA4,WA6) to specify the planned preparatory work to be carried out by the employee under the work areas (WA), the unmanned transport vehicle (6) comprises: a vehicle body (61) comprising a loading platform (62) onto which an element (G) for the preparatory work is loaded, and a motion control unit (63) designed to execute a driving guidance process for the employee to successively move and stop the vehicle body (61) to and at the activity target areas (WA1, WA3, WA4, WA6), the work plan management device (3) further comprises a work progress determination unit (343) designed to monitor the status of all preparatory work performed at each of the activity target areas (WA1, WA3, WA4, WA6) as specified by the activity target specification unit (3421), and to record each of the processes as work in progress,completed or uncompleted work is categorized, and the motion control unit (63) executes the motion control process according to a result of the determination by the work progress determination unit (343).

Description

Technical area

[0001] The present invention relates to a component assembly system comprising a component assembly line on which several component assembly machines are connected to one another, each of which is designed to mount a component onto a substrate in order to produce a component-equipped substrate. Technical background

[0002] A component assembly line for manufacturing a component-populated substrate, which is a substrate such as a printed circuit board with an electronic component mounted on it (hereinafter simply referred to as a "component"), comprises several interconnected component assembly machines, each configured to mount a component onto a substrate. Multiple component feeders for advancing components are provided in parallel with each of the component assembly machines. During the manufacturing of the component-populated substrate by the component assembly machines of the component assembly line, an operator performs a setup operation, such as a component placement operation, to load the component feeder with the components, according to a production plan for each substrate type.

[0003] A technique for improving the efficiency of component placement work performed by an employee is disclosed, for example, in patent literature 1. In the technique disclosed in patent literature 1, the position of a connecting unit is detected, and based on this detected position, a component feeding device (belt feeder) intended for the component placement work is identified. In this way, the employee can check the position of the component feeding device intended for the component placement work. List of oppositions patent literature

[0004] Patent Literature 1: JP 2017-224720 A Summary of the invention

[0005] The time allotted for preparatory work, such as component placement, during the production of a component-equipped substrate on a component assembly line is not fixed but varies depending on the specific machine. Some machines require preparatory work within a certain timeframe, while others do not. It is difficult for an employee to identify the machine designated for preparatory work among the multiple machines on the assembly line. Unsure of which machine to go to, the employee ultimately wanders aimlessly among the various components.This leads to a delay in the preparatory work to be carried out by the employee, and the delay in the preparatory work can impair the efficiency of the production of the component-equipped substrate.

[0006] The present invention was developed in light of the circumstances. It is an object of the present invention to provide a component assembly system that improves the efficiency of preparatory work performed by an employee during the production of a component-equipped substrate by component assembly machines of a component assembly line.

[0007] A component assembly system according to one aspect of the present invention comprises: a component assembly line in which several component assembly machines are connected to one another, each of the component assembly machines being designed to mount a component onto a substrate for the production of a component-equipped substrate; a work plan management device designed to manage a plan for preparatory work to be carried out by an employee in accordance with the production of the component-equipped substrate in a work area preset for each of the several component assembly machines; and an unmanned transport vehicle that can be moved autonomously along a predetermined route passing by the work areas.The work plan management device includes an activity objective specification unit designed to specify an activity objective area for the planned preparatory work to be performed by the employee among the work areas. The unmanned transport vehicle includes a vehicle body comprising a loading platform onto which an element for the preparatory work is loaded, and a motion control unit designed to guide the employee through a driving process to successively move and stop the vehicle body to and at the activity objective areas.

[0008] The tasks, features, and advantages of the present invention are clarified by the following detailed description and the accompanying drawings. List of characters Fig. Figure 1 schematically represents a configuration of a component assembly system according to an embodiment of the present invention. Fig. Figure 2 is a top view showing a configuration of a component assembly machine. Fig. Figure 3 schematically represents a belt feed device that serves as a component feeding device with which a component feeding unit of the component assembly machine is equipped. Fig. Figure 4 is a perspective view showing a component feed belt attached to the belt feeder. Fig. Figure 5 schematically represents a container feeder that serves as a component feeding device with which the component feeding unit of the component assembly machine is equipped. Fig. Figure 6 schematically represents a rod feeder that serves as a component feeding device with which the component feeding unit of the component assembly machine is equipped. Fig. Figure 7 is a block diagram representing a control system of the component assembly machine. Fig. Figure 8 is an explanatory view that shows setting information stored in a memory unit of an assembly control device. Fig. Figure 9 is a block diagram representing a configuration of a work plan management device. Fig. 10 is an explanatory view that displays production plan information entered into the work plan management device. Fig. 11 is an explanatory view that displays substrate information entered into the work plan management device. Fig. Figure 12 is an explanatory view that illustrates a control sequence of the work plan management device. Fig. 13 is an explanatory view that presents initial work list information created by a work management unit and a work progress determination unit of the work plan management device. Fig. Figure 14 is an explanatory view that illustrates a driving guidance process performed by a motion control unit of an unmanned transport vehicle according to the first work list information. Fig. 15 is an explanatory view that displays secondary work list information, which is updated when the work history determination unit has detected that priority work is pending. Fig. Figure 16 is an explanatory view that shows a driving guidance process executed by the motion control unit according to the second work list information. Fig. 17 is an explanatory view that presents third work list information, which is updated when the work progress determination unit has determined that preparatory work cannot begin. Fig. Figure 18 is an explanatory view that shows a motion control process executed by the motion control unit according to the third work list information. Fig. 19 is an explanatory view that represents fourth work list information, which is updated when the work history determination unit has detected that urgent work is pending. Fig. Figure 20 is an explanatory view that represents a motion control process executed by the motion control unit according to the fourth work list information. Description of the embodiments

[0009] A component assembly system according to an embodiment of the present invention will now be described with reference to the drawings. [General configuration of the component assembly system]

[0010] Fig. Figure 1 schematically represents a configuration of a component assembly system 1 according to one embodiment of the present invention. The component assembly system 1 includes a component assembly line 2L , a work schedule management device 3 , a production plan management device 4, a substrate information management device 5, an unmanned transport vehicle 6 and a mobile device carried by an employee 7. In the component assembly system 1 are an assembly control device 20 each of the component assembly machines 2 , which the component assembly line 2Lform, the production plan management device 4, the substrate information management device 5, the unmanned transport vehicle 6 and the mobile terminal device 7 for performing data communication with the work plan management device 3 tied together.

[0011] The several component assembly machines 2 are for the production of the component assembly line 2L interconnected at the component assembly line. 2L are the multiple component assembly machines 2 linearly arranged and connected to each other by connecting conveyor devices, each of which carries a substrate from one of the component assembly machines 2 to transport to another. In the case of the Fig. The example shown in point 1 is located in the component assembly line. 2L six component assembly machines 2 connected. Although in Fig. 1 only one component assembly line2L As shown, the component assembly system 1 several component assembly lines 2L include. <Konfiguration der Komponentenmontagemaschine>

[0012] A configuration of the component assembly machine 2 will now be referred to Fig. 2 described. Fig. 2 is a top view showing a configuration of the component assembly machine 2 The following describes the directional relationship using rectangular XY coordinate axes. One of the sides shown by the direction of the X-axis is called "Side +X", and the opposite side is called "Side -X". One of the sides shown by the direction of the Y-axis is called "Side +Y", and the opposite side is called "Side -Y".

[0013] The component assembly machine 2A component assembly machine is a device that produces a component-equipped substrate by mounting a component onto a substrate P. A solder paste pattern is printed onto the substrate P before the component is mounted by the component assembly machine. 2 is mounted on substrate P. This means that the component assembly machine 2 The component is mounted on substrate P, onto which the solder paste pattern has been printed by a pattern-generating device. The component assembly machine 2 comprises a main frame 21, a movable frame 22, a conveying device 23, a component feeding unit 24, a head unit 25, a first drive mechanism 26, a second drive mechanism 27 and a substrate holding device 28.

[0014] The main frame 21 is a structural body on which the parts of the component assembly machine are arranged. 2The structure, viewed from above in a direction perpendicular to both the X-axis and the Y-axis, has an approximately square shape. The conveying device 23, which extends in the direction of the X-axis, is arranged on the main frame 21. The conveying device 23 transports the substrate P along the direction of the X-axis. The substrate P, conveyed along the conveying device 23, is positioned by the substrate holding device 28 at a predetermined working position (a component assembly position where the component is mounted on the substrate P). The substrate holding device 28 holds the substrate P for positioning by means of a holding pin.

[0015] Four component loading units 24 are arranged on the main frame 21: two side-by-side on the +Y side along the X-axis with respect to the Y-axis direction, and two side-by-side on the -Y side along the X-axis direction with respect to the Y-axis direction. The component loading unit 24 feeds the component to be mounted on the substrate P. Several component loading devices are arranged in parallel on the component loading unit 24. The component loading device arranged on the component loading unit 24 will be described later.

[0016] The movable frame 22 extends in the direction of the X-axis and is movably held on the main frame 21 for movement in a predetermined direction (the direction of the Y-axis). The head unit 25 is mounted on the movable frame 22. The head unit 25 mounted on the movable frame 22 is movable in the direction of the X-axis. This means that the head unit 25 is movable by the movement of the movable frame 22 in the direction of the Y-axis and also along the direction of the movable frame 22 in the direction of the X-axis. The head unit 25 is movable over the component loading unit 24 and the predetermined working position for the substrate P conveyed by the conveyor 23 and removes the component from the component loading unit 24 for assembly onto the substrate P (for its placement on the plate). The head unit 25 includes a suction nozzle 251.The suction nozzle 251 is a holding device that can hold the component supplied by the component feeding unit 24 by suction. The suction nozzle 251 can be connected to either a vacuum generating device, a positive pressure generating device, or the outside air via an electrically controlled changeover valve. This means that generating a vacuum at the suction nozzle 251 causes the suction nozzle 251 to hold the component by suction (to remove a component), and that the subsequent generation of positive pressure releases the component that was held by suction.

[0017] The first drive mechanism 26 is located at one end on the +X side and at one end on the -X side of the main frame 21. The first drive mechanism 26 is a mechanism for moving the movable frame 22 in the direction of the Y-axis. The first drive mechanism 26 comprises, for example, a drive motor, a ball screw shaft extending in the direction of the Y-axis and connected to the drive motor, and a ball nut located on the movable frame 22 and screwed to the ball screw shaft. The first drive mechanism 26, configured in this way, moves the movable frame 22 in the direction of the Y-axis by having the drive motor rotate the ball screw shaft, causing the ball nut to move forward and backward along the ball screw shaft.

[0018] The second drive mechanism 27 is arranged on the movable frame 22. The second drive mechanism 27 is a mechanism for moving the head unit 25 in the direction of the X-axis along the movable frame 22. Like the first drive mechanism 26, the second drive mechanism 27 comprises, for example, a drive motor, a ball screw shaft extending in the direction of the X-axis and connected to the drive motor, and a ball nut provided on the head unit 25 and screwed onto the ball screw shaft. The second drive mechanism 27, configured in this way, moves the head unit 25 in the direction of the X-axis by the drive motor rotating the ball screw shaft to move the ball nut forwards and backwards along the ball screw shaft. <Component loading device>

[0019] The component feeding device arranged parallel to the component feeding unit 24 is generally categorized as a belt feeder, container feeder, or rod feeder. The method for conveying the component varies depending on the category. Each component feeding unit 24 of the component assembly machine 2 Component feeding devices of a single type, using the same method for conveying the component, or component feeding devices of two or more types, using different methods for conveying the component, can be arranged. (belt feeder)

[0020] A belt feeder, which serves as a component loading device, includes a reel that acts as a component storage element. A component loading belt, containing the components at predetermined intervals, is wound around the reel, and the component loading belt is fed from the reel. The belt feeder is typically categorized as a link feeder or automatic loading feeder (AF). A reel is attached to the link feeder. Before the reel has completed feeding a component loading belt, i.e., before the components are used up, the next component loading belt is prepared so that the next component loading belt follows the previous one.For example, the rear end section of the preceding component feeder and the front end section of the next component feeder are joined together by bonding with a connecting tape. This means that the joining process, for instance, is carried out by the connecting feeder before the component feeder is completely fed from the single roll when the components are consumed. Therefore, the time window for providing a roll around which the next component feeder is wound is limited to the point at which the feeder of the preceding component feeder is finished.

[0021] Meanwhile, multiple rollers can be attached to the assembly machine. Once the advancement of the component feeder belt from the preceding roller under the multiple rollers around which the component feeder belt (hereinafter referred to as the "preceding component feeder belt") is wound for the previous component feeding is complete, the next component feeder belt, if already inserted into the assembly machine, is automatically fed from the next roller around which the next component feeder belt is wound, without performing the joining operation. This means that the component placement operation on the assembly machine can be performed at any time the next component feeder belt can be inserted into the assembly machine.With the AF, the time window for providing a new roll is not limited to the time of completion of the feed of the component feeder from the previous roll around which the previous component feeder is wound, and therefore there is one degree of freedom higher than with the connecting feeder.

[0022] In this embodiment, the belt feed devices arranged on the component feeding unit 24 can include both connecting feeders and the AFs, but nevertheless comprise several AFs provided as multiple component feeding devices, on each of which several rollers serving as component storage elements can be attached. The belt feed device, which is the AF serving as a component feeding device, is described with reference to the Fig. 3 and Fig. 4 described. Fig. Figure 3 schematically represents a configuration of an AF. 241 dar. Fig. Figure 4 is a perspective view showing a component feeding belt 243 attached to the AF 241 is attached.

[0023] The component loading unit 24 has the AF 241 arranged on a trolley 242. Several rollers 2420, each around which a component feeding belt 243 is wound, can be attached to the AF 241 be attached.

[0024] Before configuring the AF 241 is described with reference to Fig. 4 describes the component feeding conveyor 243. The component feeding conveyor 243 comprises a carrier conveyor 2431 and a cover conveyor 2434. The carrier conveyor 2431 has several component containers 2433 for receiving components E, the component containers being arranged at a predetermined distance within the carrier conveyor 2431. Feed force receiving openings 2432 are provided at a predetermined distance at an end section in one direction of the width of the carrier conveyor 2431. Teeth of a first pinion 2412A and a second pinion 2413A of the AF described later. 241 The first pinion 2412A and the second pinion 2413A engage with the feed force receiving openings 2432, and a feed force for emptying the component feed conveyor 243 is transmitted from the first pinion 2412A and the second pinion 2413A to the feed force receiving openings 2432. The cover belt 2434 is attached to the carrier belt 2431 in such a way that it covers the component container 2433.

[0025] As in Fig. As shown in 3, the AF is 241 attached to a feeder base 2417A, which is provided on the component loading unit 24. More precisely, the component loading unit 24 is provided with the feeder base 2417A and a roller holding unit 2419. The feeder base 2417A is provided with several chutes 2417B and a support base 2417C, wherein the chutes 2417B are arranged at intervals along the X-axis and extend parallel to each other in the Y-axis direction, and the support base 2417C extends in front of the chutes 2417B in the X-axis direction. The AF 241 is provided in each shaft 2417B and attached to the mounting base 2417C. In this way, the carriage 242 of the component loading unit 24 with the several AFs arranged parallel to each other is 241 provided.

[0026] The roll holder 2419 is positioned on a rear underside of the feeder base 2417A and holds a first roll holder 2419A and a second roll holder 2419B at positions spaced apart along one direction, both upwards and downwards. The first roll holder 2419A and the second roll holder 2419B are each designed to hold the roll 2420 rotatably. The component placement belts 243 are wound around the rolls 2420, which are each held by the first roll holder 2419A and the second roll holder 2419B.

[0027] The AF 241 includes a feeder body 2411. The AF 241The feeder body 2411 is attached to the mounting base 2417C, with the feeder body 2411 inserted into (and adjusted to) the shaft 2417B. The feeder body 2411 rotatably holds the first pinion 2412A and the second pinion 2413A. The first pinion 2412A forms a first belt feeding unit 2412. The second pinion 2413A forms a second belt feeding unit 2413 and is spaced along the Y-axis from the first pinion 2412A such that it is away from the roller holding unit 2419. The first pinion 2412A and the second pinion 2413A each have several teeth arranged at a predetermined distance around the circumference. The teeth of the first pinion 2412A and the second pinion 2413A can engage with the feed force receiving openings 2432 provided in the carrier belt 2431 of the component feed belt 243.

[0028] The component feed belts 243, which are wound around the rollers 2420 held by the first roller holder 2419A and the second roller holder 2419B, are guided by guide rollers 2418 provided at an upper end of the roller holding unit 2419 and fed to the first pinion 2412A and the second pinion 2413A. The component feed belts 243, whose feed force receiving openings 2432 engage with the teeth of the first pinion 2412A and the second pinion 2413A, are fed by the rotation of the first pinion 2412A and the rotation of the second pinion 2413A, and the component E is removed at a component feed position P1.

[0029] The AF 241further comprises a tape holding element 2414, which is detachably attached to a rear end section of the feeder body 2411, an actuation input unit 2415, which is arranged on a rear top of the feeder body 2411, and a first and a second tape detection sensor 2416A and 2416B.

[0030] As in Fig. As shown in Figure 3, the belt retaining element 2414 divides the rear end section of a belt passage 2414A, through which the component feed belt 243 passes, into two separate passages: an upper and a lower passage (an upper passage 2414AA and a lower passage 2414AB) of the feeder body 2411. The retaining element 2414 holds the component feed belt 243, which passes through the upper passage 2414AA, from below. Specifically, the rear end section of the belt passage 2414A widens upwards and downwards from the front to the rear. The belt retaining element 2414 is inserted into the belt passage 2414A from the rear of the feeder body 2411 and is detachably attached to the feeder body 2411. Accordingly, the rear end section of the belt passage 2414A is divided by the belt holding element 2414 into the upper passage 2414AA and the lower passage 2414AB.

[0031] The first belt detection sensor 2416A and the second belt detection sensor 2416B are positioned facing the belt passage 2414A and detect whether the component feed belt 243 passes through the belt passage 2414A. More precisely, the first belt detection sensor 2416A is located further forward than the point where the upper passage 2414AA and the lower passage 2414AB meet, and faces the belt passage 2414A from below. Simultaneously, the second belt detection sensor 2416B is positioned facing the upper passage 2414AA from above and detects whether the component feed belt 243 is located within the upper passage 2414AA.

[0032] The actuation input unit 2415 is used by an employee as required to dispense and reverse the component feed belt 243.

[0033] One of the AF configured as above 241The component loading operation is carried out as described below. As preparation, the operator places the roll 2420, around which the preceding component loading belt 243 is wound, onto the first roll holder 2419A in the lower section of the roll holding unit 2419. During this operation, the operator uses a barcode reader 8 (see Fig. 7) a read operation to read a barcode BR specifying the component type (recording section, see Fig. 3) on the reel 2420. The barcode BR, which specifies the component type, contains, for example, information about the type of component provided to specify a component type of component E housed in the component feed belt 243 wound around the reel 2420.

[0034] The operator inserts the front end section of the component feed belt 243, which is wound around the roller 2420 attached to the first roller holder 2419A, from the rear of the feeder body 2411 into the upper passage 2414AA. The front end section of the preceding component feed belt 243 then engages with the first pinion 2412A and is held by the belt retainer 2414. The operator then activates the actuating input unit 2415 to input a command to rotate the first pinion 2412A to discharge the component feed belt 243, thereby engaging the front end section of the component feed belt 243 with the second pinion 2413A.

[0035] After completion of the preparation, the AF leads 241 the component loading process. During the AF 241The second pinion 2413A rotates to feed the component feed belt 243. The first pinion 2412A is an idle pinion, therefore the component feed belt 243 can be fed by rotating only the second pinion 2413A.

[0036] When the preceding component feeder belt 243 is unloaded from the roller 2420, the operator removes the belt retainer 2414 from the feeder body 2411. With the belt retainer 2414 removed, the component feeder belt 243 shifts under its own weight to one side of the belt passage 2414A. This disengages the preceding component feeder belt 243 from the first pinion 2412A. Although disengaged from the first pinion 2412A, the component feeder belt 243 remains engaged with the second pinion 2413A in such a way that the rotation of the second pinion 2413A continues to feed the component feeder belt 243.

[0037] When the preceding component feed belt 243 is unloaded from the roll 2420, the operator attaches the belt holder 2414 to the feeder body 2411 and transfers the roll 2420, around which the preceding component feed belt 243 is wound, from the first roll holder 2419A in the lower section to the second roll holder 2419B in the upper section. While the preceding component feed belt 243 is being unloaded from the roll 2420 held by the second roll holder 2419B in the upper section, the operator attaches the roll 2420, around which the next component feed belt 243 is wound, to the first roll holder 2419A in the lower section and inserts the front end section of the component feed belt 243 from the rear of the feeder body 2411 into the upper passage 2414AA.Accordingly, the front end section of the next component feed belt 243 engages with the first pinion 2412 and is held by the belt retaining element 2414. In this way, the roll 2420, around which the next component feed belt 243 is wound, can be attached as long as the components of the preceding component feed belt 243 wound around the roll 2420 have not yet been used up. When attaching the roll 2420, around which the next component feed belt 243 is wound, the operator uses the barcode reader 8 to read the barcode BR on the roll 2420, which specifies the component type. Fig. 7) a reading operation, as is done with the preceding component feed conveyor 243.

[0038] When the entire preceding component feed belt 243, held by the second reel holder 2419B in the upper section, has been fed from reel 2420, and the rear end passes the location of the second belt detection sensor 2416B, and the second belt detection sensor 2416B detects that no preceding component feed belt 243 is present, the feeding of the next component feed belt 243 automatically begins from reel 2420, held by the first reel holder 2419A in the lower section. The operator removes the reel 2420, whose components have been used up, from the second reel holder 2419B in the upper section and transfers the reel 2420, around which the next component feed belt 243 is wound, from the first reel holder 2419A in the lower section to the second reel holder 2419B in the upper section.The employee can place a new roll, around which the component feed belt 243 is wound, for the AF. 241 provide. The employee brings the items for the AF. 241 The operator places the provided new reel on the first reel holder 2419A in the lower section. In this workflow, the operator uses the barcode reader 8 to perform the reading operation to read the barcode specifying the component type on the new reel. The time window for the component placement work relating to the new reel is not limited to the point at which the components on reel 2420, around which the preceding component feeder belt 243 is wound, are exhausted, but is determined by the work plan management device. 3 determined.

[0039] The new roll cannot be attached if the preceding component feed belt 243, held by the second roll holder 2419B in the upper section (roll 2420), is being fed and the front end section of the next component feed belt 243, wound around the roll 2420 held by the first roll holder 2419A in the lower section, is inserted into the upper passage 2414AA. However, the new roll can be attached if the entire preceding component feed belt 243, held by the second roll holder 2419B in the upper section, has been fed and the feed of the next component feed belt 243, held by the first roll holder 2419A in the lower section, has been automatically initiated. (Container feeder)

[0040] The container feeder, which serves as a component feeding device, is described with reference to Fig. 5 described. Fig. Figure 5 schematically represents a configuration of a container feeder. 245 several container feeders 245 can be provided in parallel to the component feeding unit 24. Regarding the container feeder 245 A magazine 2453 is movable lengthwise up and down within a cover body 2451. The magazine 2453 contains several first pallets 2454, several second pallets 2455, and several third pallets 2456.

[0041] At least one first container TR1, holding multiple components, is placed on each of the first pallets 2454. The components held in the first container TR1 are of the same type on each of the first pallets 2454. Likewise, at least one second container TR2, holding multiple components, is placed on each of the second pallets 2455. The components held in the second container TR2 are of the same type on each of the second pallets 2455. The components held in the second container TR2 are of a different type than the components held in the first container TR1. Likewise, at least one third container TR3, holding multiple components, is placed on each of the third pallets 2456. The components held in the third container TR3 are of the same type on each of the third pallets 2456.The components held in the third container TR3 are of a different type than the components held in the first container TR1 and the second container TR2.

[0042] The first pallet 2454, the second pallet 2455, and the third pallet 2456 each serve as component storage elements on which the container TR1, TR2, or TR3, which holds several components, is arranged. During the production of a component-equipped substrate, the first pallet 2454, the second pallet 2455, and the third pallet 2456, which are contained in the magazine 2453, are moved to a table 2452 protruding from the cover body 2451 to load them with the components held in the container TR1, TR2, or TR3.

[0043] While the production of the component-packed substrate is underway, another first pallet 2454 is moved to table 2452 to replenish the components held in the first container TR1 when the components held in the first container TR1 (arranged on one of the multiple first pallets 2454) are exhausted. While the production of the component-packed substrate is in progress, the operator can remove the first pallet 2454, whose components are exhausted, from the cover body 2451 and load a new first pallet for the container feeder. 245Provide. Likewise, while the production of the component-equipped substrate is underway, another second pallet 2455 is moved to table 2452 to be loaded with the components held in the second container TR2 when the components held in the second container TR2, arranged on one of the several second pallets 2455, are used up. While the production of the component-equipped substrate is underway, the operator can remove the second pallet 2455, whose components are used up, from the cover body 2451 and place a new second pallet on the container feeder. 245Provide. Likewise, while the production of the component-equipped substrate is underway, another third pallet 2456 is moved to table 2452 to be loaded with the components held in the third container TR3 when the components held in the third container TR3, which is arranged on one of the several third pallets 2456, are used up. While the production of the component-equipped substrate is underway, the operator can remove the third pallet 2456, whose components are used up, from the cover body 2451 and place a new third pallet on the container feeder. 245 provide.

[0044] During the loading of the container feeder 245Using a new pallet, the employee performs the scanning process with barcode reader 8 to read the barcode specifying the component type on the new pallet. This involves managing the planning of the component placement work for loading the container feeder. 245 A new palette is provided by the work plan management device. 3 executed. (Staff carrier)

[0045] The rod feeder, which serves as a component feeding device, is described with reference to Fig. 6 described. Fig. Figure 6 schematically represents a configuration of a rod feeder. 246 Several staff feeders 246 can be provided in parallel with component feeding unit 24. The rod feeder 246The rod feeder guides the component E, housed in a cylindrical rod 2469 which serves as a component storage element, by pushing the component E out of the rod 2469. 246 comprises a frame body 2461, a rod table 2462 provided in an upper section of the frame body 2461, a first holding device 2463, a second holding device 2464, a component sliding mechanism 2465, a guide frame 2466, two guide rails 2467 and a conveyor belt 2468.

[0046] The frame body 2461 has a hollow box shape with an open top. The rod table 2462 is arranged in an upper section of the frame body 2461. Several rods 2469 can be stacked on the rod table 2462. The first holding device 2463 can hold the several rods 2469, with the exception of the bottommost rod 2469, on the rod table 2462 simultaneously at their front end sections. Likewise, the second holding device 2464 can hold the several rods 2469, with the exception of the bottommost rod 2469, on the rod table 2462 simultaneously at their rear end sections.

[0047] The component pushing mechanism 2465 pushes component E forward from the bottommost bar 2469, which is one of several bars 2469 on the bar table 2462. The guide frame 2466 is attached to the front section of the frame body 2461, and two of the guide rails 2467 are held by the guide frame 2466. The conveyor belt 2468 is positioned between the two guide rails 2467. Component E, pushed forward by the component pushing mechanism 2465, is conveyed by the conveyor belt 2468 along the two guide rails 2467. This advances component E, contained in the bar 2469, into the component loading position.

[0048] When the components E in the bottommost bar 2469 are exhausted during the component loading process, the first and second holding devices 2463 and 2464 hold the bars 2469 except for the bottom one. The bar table 2462 is then moved into a hold-release position, in which the bar table 2462 releases the bars 2469, and the bottommost bar 2469 falls by its own weight onto an inner base section of the rack body 2461. After the bar 2469 whose components E have been exhausted has been ejected, the bar table 2462 returns to a holding position to hold the bars 2469, and the first and second holding devices 2463 and 2464 release the remaining bars 2469 and arrange them on the bar table 2462. Component E is supplied from the next (lowest) rod 2469.

[0049] While the production of the component-equipped substrate is underway, the employee can operate the rod feeder. 246 Replenish with a new rod when the rod 2469, whose components E are depleted, falls onto the inner base section of the frame body 2461. During the replenishment of the rod feeder 246 Using a new rod, the employee performs the reading process to read the barcode specifying the component type on the new rod using the barcode reader 8.

[0050] Managing the planning of the component assembly work for the assembly of the rod feeder 246 The new staff will be managed by the work plan management device. 3 executed. <Steuersystem der Komponentenmontagemaschine>

[0051] A control system of the component assembly machine 2 is described with reference to a block diagram in Fig. 7 described. The component assembly machine2 The assembly control device 20 includes the assembly control device. The assembly control device 20 controls one of the component assembly machines. 2 The completed component assembly process and also the operation of the component feeding devices that support the AF 241 , the container feeder 245 and the staff supply line 246 The assembly control device 20, for example, comprises a microcomputer, which includes a ROM (recorded memory) in which a control program is stored, and a storage device such as flash memory in which data is temporarily stored. By reading the control program, the assembly control device 20 controls a component assembly machine. 1The assembly control device 20 comprises a communication unit 201, a storage unit 202, a display unit 203, an external input / output unit 204, a component assembly process processing unit 205, and the component feeding process processing unit 206, the units being interconnected via a bus 20A.

[0052] The communication unit 201 is an interface for carrying out data communication with the component feeding device and the work plan management device. 3 All of the component loading units (24) of the component assembly machines 2The arranged component loading devices are connected to the communication unit 201. The external input / output unit 204 is an interface for performing data communication with the barcode readers 8.

[0053] Storage unit 202 contains in Fig. 8 displayed setting information JH1 The settings information is saved. JH1 affect the component for each component loading unit 24 of the component assembly machine 2 The component feeding device is arranged. (See the setting information.) JH1 The following information is associated with each other: assembly machine type information J11, setting position information J12, fixture type information J13, component type information J14, component inventory information J15, component inventory warning value information J16, and component inventory stop value information J17. The assembly machine type information J11 serves to specify the component assembly machine. 2 The setting position information J12 specifies a position of the component loading device in the component loading unit 24. If the component loading device of the AF 241The setting position information J12 is determined by the position of the chute 2417B of the feeder base 2417A. Different chute numbers are assigned to the chutes 2417B, and the position of each chute 2417B, i.e., the setting position, is specified by the chute number. The device type information J13 specifies the type of component feeding device (a type of method for advancing components).

[0054] The component type information J14 specifies the type of component fed by each component feeder and includes, for example, identification information for identifying the component or component name information specifying the component's name. The component stock information J15 indicates the total component stock in each component feeder. The component stock warning value information J16 specifies a predefined value for issuing a warning (a component stock warning value). The warning is issued if the total component stock specified in component stock information J15 reaches the predefined value before the components in each component feeder are depleted. The component stock stop value information J17 is used particularly for the connecting feeders.The component stock stop value information J17 specifies a predefined value (the component stock stop value) at which the belt feed for performing the joining operation is to be stopped. The belt feed is stopped when the total component stock specified by the component stock information J15 reaches the predefined value. There is a [missing information] for the AF. 241 , the container feeder 245 and the staff supply line 246 There is no concept of a "predefined value at which the advancement of the belt to perform the connecting work is to be stopped" as with the connecting feeder. Therefore, the component inventory stop value information J17 corresponds to the component inventory warning value information J16 for the AF. 241 , the container feeder 245 and the staff supply line 246 .

[0055] The display unit 203 shows information received from the communication unit 201, for example from the work plan management device described later. 3 Information transmitted. The component assembly process processing unit 205 controls the production of the component-equipped substrate by the component assembly machine. 2 for example, operation of the head unit 25. The component feeding process processing unit 206 sends a control signal via the communication unit 201 to a feeder control unit 240 of each component feeding device in order to carry out processing for the complete control of the operation of the component feeding devices.

[0056] As in Fig. 2 shown, is on the component assembly machine 2 a work area WA set up where the employee performs setup work. In this embodiment, the work area WA , which is located on side -Y of the component assembly machine 2 The arranged component loading unit 24 comprises, and the working area WA , which is the component feeding unit 24 on side +Y of the component assembly machine 2 includes, at the component assembly machine 2 planned. In the component assembly line 2L , which include several of the interconnected component assembly machines 2 The work areas include WA on side -Y of the component assembly machines 2 arranged along the direction of the X-axis, and the work areas WA on the +Y side of the component assembly machines 2 are arranged along the X-axis. The arrangement of the work areas is described below. WA on side -Y of the component assembly machines 2 and the arrangement of the work areas WA on the +Y side of the component assembly machines 2 the component assembly line 2L each referred to as an "alley". [Configuration of the work schedule management device]

[0057] The work schedule management device 3 manages a plan for preparatory work that the employee performs according to requirements at the component assembly machines to produce the component-equipped substrate. 2 established work areas WA to be carried out. The preparatory work includes component placement work to equip several component loading devices arranged in the component loading unit 24 with new component storage elements, and several additional tasks besides the component placement work. The component placement work includes the task of loading the AF. 241with a new role, a task of loading the container feeder 245 with a new pallet, a task of loading the rod feeder 246 with a new staff and a linkage operation on the connecting feeder.

[0058] The additional work includes, for example, the work of manufacturing a large roll (a connected roll), the work of heating a container, the work of kneading a solder paste, the work of cleaning a suction nozzle, the work of replacing a suction nozzle, the work of preparing a retaining pin, or the work of collecting an ejected element. The work of manufacturing a large roll consists of producing one attached to the AF 241An attachable roll with a component feed belt wrapped around it, containing a large quantity of components. More precisely, two rolls are prepared, each with the component feed belt wound around it. The far end of the component feed belt from the first roll and the far end of the component feed belt from the second roll are joined together, and the component feed belt of the second roll is wound around the first roll to create a single roll (the large roll). The work of baking out a container consists of baking out a component on a container feeder. 245The container is arranged on a pallet and is suitable for mounting. Water or similar substances on the container are removed, for example, by heating the container using a heating device. The work of kneading a solder paste consists of producing a solder paste to be printed onto the substrate P before the component is assembled, i.e., kneading the solder paste, for example, using a kneading machine. The work of cleaning a suction nozzle concerns the suction nozzle 251 provided on the head unit 25 and is a preparatory work for cleaning the suction nozzle 251, which is suitable for each substrate type for holding the component. The work of replacing a suction nozzle consists of changing the suction nozzle 251 provided on the head unit 25.The work of preparing a retaining pin relates to a retaining pin provided on the substrate holding device 28 and consists of preparing a retaining pin suitable for holding the substrate P for each substrate type. The work of collecting an ejected element consists of collecting an ejected element from which the components were removed by the head unit 25 (for example, a used tape, an empty roll, an empty container, an empty rod, or the like, which were ejected after all components had been removed).

[0059] Fig. Figure 9 is a block diagram that shows a configuration of the work plan management device. 3 represents. As in Fig. Figure 1 shows the work plan management device. 3 for carrying out data communication with the assembly control devices 20 of the component assembly machines 2, the production plan management device 4, the substrate information management device 5, the unmanned transport vehicle 6 and connected to the mobile device 7 carried by the employee. The work schedule management device 3 includes, for example, a microcomputer and a communication unit 31 , an operating unit 32, a display unit 33 and a control unit 34 , as in Fig. 9 shown.

[0060] The control unit 32 includes a touch-sensitive control panel, a numeric keypad, a start button and a setting button, and receives input and different types of settings from the employee into the work plan management device. 3 The display unit 33 shows data from a work management unit described later. 342 the control unit 34created and determined by a workflow unit 343 updated worklist information. The communication unit 31 is an interface for performing data communication with the assembly control devices 20 of the component assembly machines 2 , the production plan management device 4, the substrate information management device 5, the unmanned transport vehicle 6 and the mobile terminal device 7. The communication unit 31 receives 20 of the component assembly machines from the assembly control devices. 2 , the production plan management device 4, the substrate information management device 5, the unmanned transport vehicle 6 and the mobile device sends 7 information blocks and forwards the received information blocks to the control unit 34 next. The control unit 34leads the work administration unit 342 created and determined by the workflow unit 343 update worklist information to the communication unit 31 further, and the communication unit 31 sends the updated worklist information to the assembly control devices 20 of the component assembly machines 2 , the unmanned transport vehicle 6 and the mobile device 7 (outputs it to this).

[0061] The production plan management device 4 and the substrate information management device 5, which are used to perform data communication with the work plan management device 3 The connected components are described. The production plan management device 4 manages a production plan for the manufacture of the component-equipped substrate by the component assembly machines. 2The production plan management device 4 includes, for example, a microcomputer. Upon activation by the employee planning the production plan, the production plan management device 4 sends the production plan information relating to the component-equipped substrate to the work plan management device. 3 . Fig. 10 is an explanatory view that displays production plan information. JH2 represents the data sent by the production plan management device 4 and transferred to the work plan management device. 3 to be entered. In the production plan information JH2 Production sequence information J21, substrate type information J22, production quantity information J23, component type information J14, and cycle duration information J24 are all linked. Production sequence information J21 specifies a production sequence for the component-equipped substrate. Substrate type information J22 specifies the type of substrate P used to manufacture the component-equipped substrate. Production quantity information J23 specifies a production quantity for each substrate type for the component-equipped substrate. Cycle duration information J24 specifies the time (seconds / substrate) required for assembling the component to manufacture a single component-equipped substrate.

[0062] The substrate information management device 5 manages the substrate information that is referenced when the component assembly machines 2to manufacture the component-equipped substrate. The substrate information management device 5 includes, for example, a microcomputer. When the substrate information management device 5 is activated by the operator, it sends the substrate information to the work plan management device. 3 . Fig. 11 is an explanatory view sent by the substrate information management device 5 and into the work plan management device. 3 entered substrate information JH3 represents. In the substrate information JH3 The substrate type information J22, the setting position information J12, the component type information J14, and the component quantity requirement information J31 are related to each other. The component quantity requirement information J31 relates to the quantity of components (per substrate) required to produce a single component-populated substrate. The substrate information JH3 are overwritten each time the substrate type P specified by the substrate type information J22 is switched.

[0063] The substrate information JH3 are accessed via the work schedule management device 3 to the assembly control devices 20 of the component assembly machines 2 sent, and during the production of the component-equipped substrate by the component assembly machines 2Reference is made to them. More precisely, the component assembly process processing unit 205 of the assembly control device 20 controls the production of the component-equipped substrate by the component assembly machine. 2 for example, operation of the head unit 25 according to the substrate information JH3 . During the production of the substrate, the substrate type information J22 in the substrate information JH3 The head unit 25 is controlled to remove the component specified in the component type information J14 from the component feeder when the component is fed from the component feeder located at the set position specified in the setting position information J12.

[0064] The control unit 34 the work schedule management device 3It comprises a central processing unit (CPU), a ROM (recorded memory) in which a control program is stored, and a RAM (random access memory) used as a workspace for the CPU. By executing the control program stored in the ROM, the CPU controls the control unit. 34 the communication unit 31 , the control unit 32 and the display unit 33, and creates various information modules relating to the management of the planning of preparatory work. As in Fig. As shown in 9, the control unit includes 34 a component placement monitoring unit 341 , the employment administration unit 342 , the work process determination unit 343 and a 344 memory unit.

[0065] With further reference to Fig. 12 next Fig. 9 will be the component placement monitoring unit 341 , the employment administration unit342 , the work process determination unit 343 and the storage unit 344 of the control unit 34 described. Fig. Figure 12 is an explanatory view that shows a control flow of the work plan management device. 3 represents. Fig. Figure 12 shows an example in which, during a first production period TW01, the component-equipped substrate of a first substrate type is manufactured, and subsequently the substrate type is changed, and in a second production period TW02, the component-equipped substrate of a second substrate type is manufactured. In the Fig. In the first production period TW01 of the example of the production of the component-equipped substrate, shown in Figure 12, the components of three AFs 241A, 241B and 241C, two container feeders 245A and 245B and a single rod feeder 246A are placed under several components on the assembly machines. 2 the component assembly line 2Lfed to the intended component feeding devices.

[0066] The following focuses on the component placement work among the preparatory work to be performed by the employee during the production of the component-assembled substrate, and the description of the additional work is omitted. The component placement work includes component placement to load each of the AFs 241A, 241B, and 241C with a new reel, component placement to load each of the container feeders 245A and 245B with a new pallet, and component placement to load the rod feeder 246A with a new rod. The AFs 241A, 241B and 241C, the container feeders 245A and 245B and the rod feeder 246A can be collectively referred to as “component feeding devices 241, 245 and 246”, and the reel, pallet and rod can be collectively referred to as the “component storage element”. <Komponentenbestückungs-Überwachungseinheit>

[0067] The component placement monitoring unit 341 Determines an administrative start time TS, which is the start time of the administration of a plan for component placement work at each of the AFs 241A, 241B and 241C, the container feeders 245A and 245B and the rod feeder 246A. The component placement monitoring unit 341 can determine a time at which the production of the component-equipped substrate begins in the first production period TW01 as the start of administration TS, or it can determine a time of input of the command information as the start of administration TS when entering command information for the command to start administration via the operating unit 32.

[0068] Once the administrative start time TS has been determined, the component placement monitoring unit monitors the process. 341From the start of administration TS, the assembly of each of the component loading devices 241 , 245 and 246 with the components. The component placement monitoring unit 341 specified for each of the component feeding devices 241 , 245 and 246 A placement time window, which specifies a time frame in which the component placement work can be carried out. In the case of the Fig. In the 12 examples shown, a placement time window TWSA is specified for the AF 241A, a placement time window TWSB is specified for the AF 241B, and a placement time window TWSC is specified for the AF 241C. A placement time window TWSD is specified for the container feeder 245A, and a placement time window TWSE is specified for the container feeder 245B. A placement time window TWSF is specified for the rod feeder 246A.

[0069] The earliest time (hereinafter referred to as the “earliest time”) in each of the placement time windows TWSA to TWSF is when, at the preceding component storage element, among several components at the component loading devices, 241 , 245 and 246 The components in the attached component storage elements are depleted, with components being supplied from the preceding component storage element. When the components in the preceding component storage element are depleted, assembly can begin with a new component storage element. The latest time (hereinafter referred to as the "latest time") in each of the assembly time windows TWSA to TWSF is when the entire component inventory in several of the component feeding devices is depleted. 241 , 245 and 246The attached component storage elements have reached a predefined component inventory warning value.

[0070] The component placement monitoring unit 341 specifies the placement time windows TWSA to TWSF for each of the component loading devices 241 , 245 and 246 according to the communication unit 31 to the control unit 34 forwarded information, i.e., the setting information JH1 of the assembly control devices 20 of the component assembly machines 2 , the production plan information JH2 from the production plan management device 4 and the substrate information JH3 from the substrate information management device 5.

[0071] More precisely, the component placement monitoring unit subtracts 341To determine the component inventory in the preceding component storage element, a component inventory in the next component storage element is derived from the component inventory information J15 in the setting information. JH1 The specified total component inventory. The component assembly monitoring unit. 341 determined by dividing a required quantity of the component needed to produce a single component-equipped substrate, where the required quantity is in the component quantity requirement information J31 in the substrate information JH3 is specified by a cycle time information J24 in the production plan information required for the assembly of the component during the manufacture of a single component-equipped substrate. JH2 Specified time span, where the time required to assemble the component is specified for each substrate in the substrate type information J22, and for each of the components specified in the component type information J14, one quantity consumed per second. The component placement monitoring unit 341 The earliest possible time in each of the assembly time windows TWSA to TWSF is determined by dividing the component inventory in the preceding component storage element by the number of components consumed per second. Simultaneously, the component assembly monitoring unit determines this time. 341By subtracting the component stock warning value specified in component stock warning information J16 from the total component stock specified in component stock information J15 and then dividing the resulting component quantity by the quantity of components consumed per second, the latest time in each of the assembly time windows TWSA to TWSF can also be determined.

[0072] The total component stock specified in component stock information J15 is reduced each time a component is withdrawn by the head unit. Although this is described in detail later, when the components in the preceding component storage element are depleted and the component feeding devices are empty, the total component stock is reduced by the head unit. 241 , 245 and 246When a component is equipped with a new component storage element, the quantity of components housed in the new component storage element (the initial quantity) is added to the total component inventory, which changes when the head unit 25 removes the component, thus updating the total component inventory. The quantity of components housed in the new component storage element (the initial quantity) is, for example, in the ROM of the control unit for each of the components specified in the component type information J14. 34 stored. If a component memory element that has been used, but in which the components have not yet been exhausted, is provided as a new component memory element, the components are stored, for example, in the ROM of the control unit. 34 The initial stored quantity was overwritten with the actual quantity of components contained in the component storage element.

[0073] When the component inventory information J15 is updated, the component placement monitoring unit updates. 341 The result of specifying the placement time windows TWSA to TWSF in a predefined cycle (for example, a cycle of 30 seconds). The component placement monitoring unit 341 can specify the assembly time windows TWSA to TWSF in the first production period TW01 for the first substrate type or the assembly time windows TWSA to TWSF taking additional account of the production period for and after the second substrate type in addition to the production period for the first substrate type. <arbeitsverwaltungseinheit>

[0074] Then the work management unit manages 342 based on the component placement monitoring unit 341 The specified assembly time windows TWSA to TWSF provide a plan for the component placement work for each of the AFs 241A, 241B and 241C, the container feeders 245A and 245B and the rod feeder 246A. As in Fig. The work administration unit shown in 9 comprises 342 a task objective specification unit 3421 and a working time specification unit 3422.

[0075] The activity objective specification unit 3421 specifies a component placement target device on which the component placement work is to be carried out, among the component loading devices. 241 , 245 and 246 More precisely, the activity goal specification unit identifies 3421 First, there is an assembly overlap time window in which some of the time windows under assembly time windows TWSA to TWSF overlap with each other. In the case of the Fig. The activity goal specification unit is recognized in the 12 examples shown. 3421 Several assembly overlap time windows exist, consisting of a first assembly overlap time window TWD1, a second assembly overlap time window TWD2, and a third assembly overlap time window TWD3 in chronological order. The first assembly overlap time window, TWD1, is located at the point where the assembly time window TWSA for the AF 241A and the assembly time window TWSB for the AF 241B overlap. The earliest time in the first assembly overlap time window, TWD1, corresponds to an earliest time T1 in the assembly time window TWSB for the AF 241B, and the latest time in the first assembly overlap time window, TWD1, corresponds to a latest time T2 in the assembly time window TWSA for the AF 241A.

[0076] The second assembly overlap time window, TWD2, is located at the point where the assembly time window TWSC for the AF 241C and the assembly time window TWSD for the container feeder 245A overlap. The earliest time in the second assembly overlap time window, TWD2, corresponds to an earliest time T3 in the assembly time window TWSC for the AF 241C, and the latest time in the second assembly overlap time window, TWD2, corresponds to a latest time T4 in the assembly time window TWSD for the container feeder 245A. The third assembly overlap time window, TWD3, is located at the point where the assembly time window TWSE for the container feeder 245B and the assembly time window TWSF for the rod feeder 246A overlap.The earliest time in the third assembly overlap time window TWD3 coincides with an earliest time T5 in the assembly time window TWSF for the rod feeder 246A, and the latest time in the third assembly overlap time window TWD3 coincides with a latest time T6 in the assembly time window TWSE for the container feeder 245B.

[0077] The activity objective specification unit 3421 Specifies all component loading devices on which component placement can be performed within one of the placement overlap time windows TWD1, TWD2, and TWD3 as component placement target devices. The activity target specification unit 3421 specifies the component placement target for each of the first to third placement overlap time windows TWD1, TWD2, and TWD3. In the Fig. The 12 illustrated examples specify the activity goal specification unit. 3421 AFs 241A and 241B serve as component placement target devices on which the component placement work can be performed within the first placement overlap time window TWD1. The activity target specification unit 3421 Specifies the AF 241C and the container feeder 245A as component placement target devices on which the component placement work can be carried out in the second placement overlap time window TWD2. The activity target specification unit 3421 specifies the container feeder 245B and the rod feeder 246A as component placement target devices on which the component placement work can be carried out in the third placement overlap time window TWD3.

[0078] As described above, the activity objective specification unit specifies 3421 All component loading devices on which component placement can be performed within one of the placement overlap time windows TWD1, TWD2, and TWD3 are designated as target component loading devices. This specification enables "bundled loading," where the operator performs component placement on the devices located below the component loading devices. 241 , 245 and 246 This process is carried out all at once, with component storage elements being delivered within one of the assembly overlap time windows TWD1, TWD2, and TWD3. This reduces the frequency with which the employee has to access the component assembly machines. 2 must locate where the component feeding devices are located. 241 , 245 and 246 are provided for, and reduces the workload of the employee performing the component assembly work.

[0079] Furthermore, the activity objective specification unit specifies 3421 the activity target area intended for the preparatory work performed by the employee (the component assembly work) among those at the component assembly machines 2 the component assembly line 2L established work areas WA The activity objective specification unit 3421 specifies the work area WA The area in which the component placement target device is located is defined as the activity target area. More precisely, the activity target specification unit identifies this area. 3421 based on the settings information JH1 the device type information J13, which specifies the component placement target device, the setting position information J12, and specifies the working area WA , which includes the setting position specified in the setting position information J12, as the activity target area.

[0080] If the result of the specification of the placement time windows TWSA to TWSF from the component placement monitoring unit 341 The activity objective specification unit is updated within the specified cycle, as described above. 3421 The result of specifying the activity target area. Like the component placement monitoring unit. 341 can the activity goal specification unit 3421 specify the activity target area in the first production period TW01 for the first substrate type, or it can specify the activity target area taking additional account of the production period for and after the second substrate type in addition to the production period for the first substrate type.

[0081] Then, the work time specification unit 3422 specifies a placement work time specification for the component placement work in each of the first to third placement overlap time windows TWD1, TWD2 and TWD3, wherein the placement work time specification at the component loading devices under the component loading devices 241 , 245 and 246 corresponds to the positions assigned to the job objective specification unit. 3421 are arranged in specified activity target areas. In the case of the Fig. In the example shown, the work time specification unit 3422 specifies a first placement work time specification TH1 as a time specification for the component placement work in the first placement overlap time window TWD1, where the time specification for AFs 241A and 241B is the same. The work time specification unit 3422 specifies a second placement work time specification TH2 as a time specification for the component placement work in the second placement overlap time window TWD2, where the time specification for AF 241C and the container feeder 245A is the same. The work time specification unit 3422 specifies a third assembly work time specification TH3 as a time specification for the component assembly work in the third assembly overlap time window TWD3, where the time specification for the container feeder 245B and the rod feeder 246A is the same time specification.

[0082] Desirably, the work time specification unit 3422 specifies the earliest time T1 in the first assembly overlap time window TWD1 as the first assembly work time specification TH1 in the first assembly overlap time window TWD1. The earliest time T1 in the first assembly overlap time window TWD1 is the earliest time in the first assembly overlap time window TWD1. Specifying the earliest time T1, which is the earliest time in the first assembly overlap time window TWD1, as the first assembly work time specification TH1 provides the operator with sufficient time to perform the component placement work (the preparation work) for AFs 241A and 241B in one go.

[0083] Likewise, it is desirable that the work time specification unit 3422 specifies the earliest time T3 in the second placement overlap time window TWD2 as the second loading time specification TH2 in the second placement overlap time window TWD2 and the earliest time T5 in the third placement overlap time window TWD3 as the third loading time specification TH3 in the third placement overlap time window TWD3. (Exemplary modification of the work administration unit)

[0084] The activity objective specification unit 3421 The first production period, TW01, can be divided into several specific time periods, TW11, TW12, and TW13, each with a predetermined duration. The specific time periods, which define the duration of TW11, TW12, and TW13, are entered by the operator via control unit 32 and set to any desired duration, for example, 30 minutes. The specific time periods are referred to below in chronological order as the first specific time period, TW11; the second specific time period, TW12; and the third specific time period, TW13. The durations of the first through third specific time periods, TW11, TW12, and TW13, are set to be identical.

[0085] The activity objective specification unit 3421 The first to third placement overlap time window TWD1 to TWD3 is detected, in which overlaps of the respective component loading devices occur. 241 , 245 and 246 The corresponding assembly time windows TWSA to TWSF are available. Furthermore, the activity objective specification unit determines... 3421 , whether the earliest time of an overlapping placement window (TWD1 to TWD3) within the first to third specific time intervals (TW11, TW12, and TW13) lies within the first to third specific time intervals. In the case of the Fig. In the example shown in Figure 12, the earliest time in the first assembly overlap time window TWD1 lies in the first specific time period TW11, the earliest time in the second assembly overlap time window TWD2 lies in the second specific time period TW12, and the earliest time in the third assembly overlap time window TWD3 lies in the third specific time period TW13.

[0086] In this case, the activity objective specification unit specifies 3421 AFs 241A and 241B are component placement target fixtures on which the component placement work can be carried out within a time window between the earliest time in the first placement overlap time window TWD1 and the latest time in the first specific time interval TW11 in the first placement overlap time window TWD1. The activity target specification unit 3421 Specifies the AF 241C and the container feeder 245A as component placement target devices on which the component placement work can be performed within a time window between the earliest time in the second placement overlap time window TWD2 and the latest time in the second specific time span TW12 in the second placement overlap time window TWD2. The activity target specification unit 3421 specifies the container feeder 245B and the rod feeder 246A as component placement target devices on which the component placement work can be carried out in a time window between the earliest time in the third placement overlap time window TWD3 and the latest time in the third specific time span TW13 in the third placement overlap time window TWD3.

[0087] The work time specification unit 3422 specifies the same first placement work time specification TH1 for AFs 241A and 241B within the time window between the earliest time in the first placement overlap time window TWD 1 and the latest time in the first specific time span TW11 within the first placement overlap time window TWD 1. The work time specification unit 3422 specifies the same second placement work time specification TH2 for AF 241C and the container feeder 245A within the time window between the earliest time in the second placement overlap time window TWD2 and the latest time in the second specific time span TW12 within the second placement overlap time window TWD2.The work time specification unit 3422 specifies the same third assembly work time specification TH3 for the container feeder 245B and the rod feeder 246A in the time window between the earliest time in the third assembly overlap time window TWD3 and the latest time in the third specific time span TW13 in the third assembly overlap time window TWD3. (Work list information generated by the work management unit)

[0088] The activity objective specification unit 3421 the employment administration unit 342 created in Fig. 13 initial worklist information shown JH4 as information that indicates the result of specifying the activity target area. The initial work list information JH4 They include information on a list that assigns the preparatory work (component assembly work) to be performed within the activity target area to the activity target area. In this embodiment, the first work list information includes JH4 as additional information work status information, which is a result of the determination of the status of the preparatory work (the component assembly work) by the work process determination unit described later. 343 specify. In addition, the initial worklist information includes JH4 a list in which the activity target areas are listed in order from upstream to downstream along the route of the unmanned transport vehicle described later. 6 are in order.

[0089] In the first worklist information JH4 are, as in Fig. Figure 13 shows route number information J41, activity target area number information J42, component assembly street name information J43, lane name information J44, assembly machine type information J11, setting position information J12, fixture type information J13, component type information J14, component inventory information J31, placement time window information J45, warning time information J46, stop time information J47, production execution time window information J48, work status information J49, standard working time information J50 and information J51 on the permissible dwell time are assigned to each other.

[0090] The information in the first worklist JH4 The included information modules are, in addition to Fig. 13 with reference to Fig. 14 described. Fig. 14 is an explanatory view showing one of a motion control unit 63 of the unmanned transport vehicle described later 6 according to the initial worklist information JH4 represents the executed traffic control process.

[0091] In Fig. 14 are the component assembly machines 2 the component assembly line 2L in a sequence from the upstream side to the downstream side along a route 6R of the unmanned transport vehicle described later 6 The components are designated as the first component assembly machine 2A, the second component assembly machine 2B, the third component assembly machine 2C, the fourth component assembly machine 2D, the fifth component assembly machine 2E, and the sixth component assembly machine 2F. The working area set for the first component assembly machine 2A is designated as the first working area WA1. Similarly, the working area on the second component assembly machine 2B is designated as the second working area WA2, the working area on the third component assembly machine 2C as the third working area WA3, the working area on the fourth component assembly machine 2D as the fourth working area WA4, the working area on the fifth component assembly machine 2E as the fifth working area WA5, and the working area on the sixth component assembly machine 2F as the sixth working area WA6.

[0092] Furthermore, it specifies in the Fig. The activity goal specification unit is shown in the 14th example. 3421 The first work area WA1, the third work area WA3, the fourth work area WA4, and the sixth work area WA6 are defined as activity target areas within the first to sixth work areas WA1 to WA6. Multiple AFs 241 and a connecting feeder SPF are arranged in a mixed order in the first work area WA1. By specifying two AFs 241A and the connecting feeder SPF among them as component placement target devices, the first work area WA1 is identified as the activity target area. In the third work area WA3, several AFs are located. 241 arranged. By specifying five AFs 241A among them as component placement target devices, the third work area WA3 is identified as the activity target area. In the fourth work area WA4, several container feeders are located. 245 The fourth work area WA4 is identified as the activity target area by specifying two container feeders 245A among them as component placement target devices. Several rod feeders are located in the sixth work area WA6. 246 arranged. By specifying two rod feeders 246A among them as component placement target devices, the sixth work area WA6 is identified as the activity target area.

[0093] The route number information J41 serves to indicate the position of the unmanned transport vehicle described later. 6 on route 6R. The activity target area number information J42 serves to identify the activity target specification unit. 3421 specified activity target areas (of the first work area WA1, the third work area WA3, the fourth work area WA4, and the sixth work area WA6). The component assembly line name information J43 serves to specify the component assembly line. 2L The lane name information J44 indicates to which lane (lane) of work areas under the lane on side -Y and the lane on side +Y of component assembly machines 2A to 2F the activity target area specified by the activity target area number information J42 belongs.

[0094] The placement time window information J45 specifies a time span that takes until the component placement work can be performed on the component placement target fixture, which is located at a setting position specified by the setting position information J12, in each activity target range specified in the activity target range number information J42.

[0095] The warning time information J46 specifies the time it takes for the total component stock specified in the component stock information J15 to reach the component stock warning value for the component placement target device (the AF 241A, the container feeder (TF) 245A, the rod feeder (SF) 246A, and the connecting feeder SPF) located at the setup position specified in the setup position information J12. The stop time information J47 specifies the time it takes for the total component stock specified in the component stock information J15 to reach the component stock stop value for the component placement target device located at the setup position specified in the setup position information J12.For the AF 241A, the container feeder (TF) 245A, and the rod feeder (SF) 246A as component placement target devices, the stop time information J47 specifies, for example, the time it takes for the total component stock specified in the component stock information J15 to become zero (0) when the component stock stop value is set to zero (0). For the connecting feeder SPF as a component placement target device, the stop time information J47 specifies, for example, the time it takes for the total component stock specified in the component stock information J15 to reach the predefined value when the component stock stop value is set to a predefined value at which the belt feed for performing the connecting operation is stopped.The production execution time window information J48 specifies a time period in which the feeding with the components for the production of the component-equipped substrate can continue at the component placement target device (the AF 241A, the container feeder (TF) 245A and the rod feeder (SF) 246A and the connecting feeder SPF) located at the setting position specified in the setting position information J12.

[0096] Both the warning time information J46 and the stop time information J47, as well as the production execution time window information J48, also define a time limit for the start of component placement work (preparation work) at the component placement target fixture. The time limit for the start of work is set for component placement work (preparation work) at the component placement target fixture. This time limit includes a point in time at which the total component stock specified in the component stock information J15 reaches the component stock warning value, a point in time at which the total component stock specified in the component stock information J15 reaches the component stock stop value, and a point in time at which the component placement target fixture can no longer continue loading the components.If the component placement operation on the component placement target device is not initiated according to the time limit, the component placement target device will most likely stop supplying the components, which may impair the production of the component-populated substrate.

[0097] The work status information J49 shows the result of the determination of the status of the preparatory work (the component assembly work) by the work process determination unit described later. 343 The standard work time information J50 specifies a standard work time required from the start to the completion of the component placement operation (preparation work) at the component placement target fixture. The standard work time specified in the standard work time information J50 is set for each type of component placement operation (preparation work). For example, a standard work time for the component placement operation to load the AF 241A with a new reel is set to "30 seconds," a standard work time for the component placement operation to load the container feeder 245A with a new pallet is set to "50 seconds," and a standard work time for the component placement operation to load the bar feeder 246A with a new bar is set to "45 seconds."A standard working time for the connection work on the connection feeder SPF is set to "90 seconds," for example. A weighting factor can be assigned to the standard working time specified in the standard working time information J50, corresponding to the work performance of an OP employee during component placement (preparatory work).

[0098] The information J51 regarding the permissible dwell time specifies a permissible dwell time for the stay of the unmanned transport vehicle described below. 6 at each of the activity target areas specified in the Activity Target Area Number Information J42 (the first activity area WA1, the third activity area WA3, the fourth activity area WA4, and the sixth activity area WA6). The permissible dwell time specified in the Permissible Dwell Time Information J51 can be calculated based on the work effort for each type of component placement work (preparation work) at each activity target area and the standard work time specified in the Standard Work Time Information J50. More precisely, the permissible dwell time is calculated for each activity target area. The permissible dwell time is the sum of the products calculated by multiplying the quantity of component placement work by the standard work time for each type of work. <arbeitsverlaufs-bestimmungseinheit>

[0099] The work process determination unit 343 monitors the status of all preparatory work (all component assembly work) that is carried out at each of the activity target specification units. 3421 The specified activity target areas are carried out on a real-time basis and the work status is determined as started, completed, or incomplete. The work status information J49, which is the result of the determination of the status of the preparatory work (component assembly work) by the work progress determination unit, is displayed. 343 Specify the information, which will be added to the first worklist information. JH4 added as described above.

[0100] If the preparatory work (the component assembly work) has not yet been carried out by the OP employee in the target activity area, the work process determination unit determines 343 , that the status of the preparatory work is "work in progress" and adds the work status information J49, which indicates the result of the determination, to the first work list information JH4 in addition. Fig. 13 and Fig. The work process determination unit is determined by the 14 examples shown. 343 that the preparatory work (the component assembly work) in the activity target areas specified in the activity target area number information J42 (the third work area WA3, the fourth work area WA4, and the sixth work area WA6) is "unfinished work". Then the work progress determination unit 343 The work status information J49 corresponding to the activity target areas is set to "unfinished".

[0101] When the employee OP performs the reading operation to read the barcode specifying the component type using the barcode reader 8 at the activity target area specified in the activity target area number information J42, information is transmitted via the external input / output unit 204. JH01 to the type of component provided ( Fig. 14) into the assembly control device 20 of the component assembly machine 2 entered, to which the activity target area is set. The assembly control device 20, into which the information JH01 The information is entered for the type of component provided and is sent. JH01 The type of component provided is transmitted via communication unit 201 to the work plan management device. 3 In the work schedule management device 3 The work process determination unit 344 is determined according to the first work list information. JH4 , that the status of the component assembly work was changed from "unfinished work" to "work started" when the communication unit 31 the information sent by the assembly control device 20 JH01 to the type of component provided.

[0102] More precisely, the work process determination unit 344 receives the information upon input. JH01 The type of component provided includes the component type information J13, which indicates the component is of the same type as the component type in the information. JH01 The work progress determination unit 344 determines that the status of the component placement work at the component placement target fixture located at the setting position specified in the received setting position information J12 has been changed from "work in progress" to "work in progress" and adds the work status information J49, which indicates the result of the determination, to the first work list information. JH4 in addition. Fig. 13 and Fig. The work process determination unit is determined by the example shown in section 14. 343 that the status of the connection work for the connection feeder SPF arranged at the setting position “S13” specified in the setting position information J12 in the first work area WA1, which is the activity target area specified in the activity target area number information J42, has been changed from “unfinished work” to “work started”. Then the work progress determination unit 343 the work status information J49 corresponding to the setting position “S 13” specified in the setting position information J12 is set to “work started”.

[0103] If the component placement target device ( Fig. 14) Inventory recording information JH02 The inventory recording information will be issued after the OP employee has performed the reading operation to read the barcode specifying the component type using the barcode reader 8. JH02 sent from the feeder control unit 240 to the assembly control device 20. The inventory recording information. JH02 Indicates that the component placement operation at the component placement target device is complete. If the component placement target device is the AF 241A and a first belt detection sensor 2416A detects the component feed belt, detection information output by the first belt detection sensor 2416A includes, for example, the inventory detection information. JH02 , indicating that the component assembly work on the AF 241A is complete.

[0104] The assembly control device 20, into which the inventory recording information is stored JH02 The inventory information is entered and sent. JH02 via communication unit 201 to the work plan management device 3 In the work schedule management device 3 The work process determination unit 344 is determined according to the first work list information. JH4 , that the status of the component assembly work was changed from "work started" to "work completed" when the communication unit 31 the inventory recording information sent by the assembly control device 20 JH02 receives.

[0105] More precisely, the work process determination unit 344 receives the inventory recording information when the input is entered. JH02 the setting position information J12, which specifies the setting position at which the component placement target device is located, which contains the inventory detection information JH02 The work progress determination unit 344 then determines that the status of the component placement work at the component placement target device located at the setting position specified in the received setting position information J12 has been changed from "work started" to "work completed" and adds the work status information J49, which indicates the result of the determination, to the first work list information. JH4 in addition. Fig. 13 and Fig. The work process determination unit is determined by the example shown in section 14. 343 , that the status of the component placement work in the first work area WA1, which is the activity target area specified in the activity target area number information J42, has been changed from "work started" to "work completed" for each of the AFs 241A arranged at the setting positions "S11" and "S12" specified in the setting position information J12. Then the work sequence determination unit 343 the work status information J49 corresponding to the setting positions “S11” and “S12” specified in the setting position information J12 is set to “work completed”.

[0106] The activity objective specification unit 3421 created and determined by the workflow unit 343 Real-time updated work status information J49 becomes part of the first work list information. JH4 added, and the resulting initial worklist information JH4 are stored in memory unit 344 of the work plan management device 3 saved and displayed on display unit 33. In addition, the initial work list information is displayed. JH4 via the communication unit 31 to the assembly control devices 20 of the component assembly machines 2 , the unmanned transport vehicle described later 6 and the mobile terminal device 7 was sent. The storage unit 344 of the work plan management device 3 The activity target specification unit stores the result in response to the update of the determination result in the activity target area in a predefined cycle. 3421 updated initial worklist information JH4 When the first worklist information JH4 into the assembly control devices 20 of the component assembly machines 2 The first worklist information will be entered JH4 displayed on the display units 203 of the assembly control devices 20. When the first work list information JH4 The first worklist information is entered into the mobile device 7 carried by the operating room employee. JH4 displayed on the mobile device 7. When the first worklist information appears JH4 into the unmanned transport vehicle 6 The movement of the unmanned transport vehicle will be entered. 6 according to the initial worklist information JH4 controlled. [Configuration of the unmanned transport vehicle]

[0107] As in Fig. As shown in 14, the unmanned transport vehicle can 6 autonomously along a route connected to the component assembly machines 2 the component assembly line 2L established work areas WA The unmanned transport vehicle will move along the predefined route 6R. 6 includes a vehicle body 61 , which has a loading area 62 includes, onto which an element G intended for preparatory work is loaded, a motion control unit 63 and a warning unit 64 .

[0108] This is for the preparatory work on the loading platform 62 The loaded element G comprises a new component storage element (a roll, a pallet, or a rod) required for the component placement operation, an element collected after completion of the component placement operation, and an element required for supplementary work in addition to the component placement operation.

[0109] The motion control unit 63 leads to the instruction of the operating room employee according to the initial work list information. JH4 a driving guidance process for the successive movement and stopping of the vehicle body 61 at the activity target areas specified in the activity target area number information J42. By the motion control unit 63 The executed train control process is used in the Fig. 13 and Fig. The example shown in 14 is the unmanned transport vehicle. 6 with the one on the loading platform 62 The loaded element G, used for preparatory work to guide the OP employee, moved sequentially and stopped at the first work area WA1, the third work area WA3, the fourth work area WA4, and the sixth work area WA6, which are the activity target areas specified in the activity target area number information J42. In this way, the OP employee can position themselves according to the unmanned transport vehicle. 6 move along route 6R as a guide and carry out the preparatory work (the component assembly work) at the activity target area where the unmanned transport vehicle 6 has stopped. To carry out the preparatory work in each of the activity target areas, the OP employee can select a content for the preparatory work in the activity target area based on the initial work list information displayed on the display unit 203 of the assembly control device 20 or the mobile device 7. JH4 recognize. The operating room employee moves in accordance with the unmanned transport vehicle. 6 as a guide and can be used by the component assembly machine 2 It is easy to identify where the preparatory work needs to be carried out. Furthermore, the operating room staff can use the initial work list information to determine the appropriate task. JH4 to recognize the content of the preparatory work, thereby enabling the operating room staff to carry out the preparatory work more efficiently.

[0110] In this embodiment, the motion control unit 63 the traffic control process according to the information on the first work list JH4 added work status information J49, where the work status information J49 is the result of the determination concerning the status of the preparatory work by the work progress determination unit. 343 Specify this. In this way, the motion control unit can 63 the journey of the unmanned transport vehicle 6 to the activity target areas according to the work process determination unit 343 Control a specific status of preparatory work on a real-time basis, where the status is work started, work completed, or work in progress. <Erstes spezifisches Beispiel des auf den Arbeitsstatus-Informationen basierenden Fahrleitprozesses >

[0111] The motion control unit 63 can the vehicle body 61 , which has stopped at the activity target area where preparatory work (component assembly work) is pending, whose status in the work status information J49 is "unfinished work", move to the next activity target area to which the vehicle body is to be moved when the status of all preparatory work at the activity target area has been changed to "completed work", and move the vehicle body 61 stop at the next activity target area. Alternatively, the motion control unit can 63 the vehicle body 61 move to the next activity target area to which the vehicle body 61 It is to be moved when the activity target area where the vehicle body is located 61 is stopped before it is moved, the status of the preparatory work, with the exception of one, has been changed to "work completed" and the status of one of the preparatory works has been changed to "work started", and the vehicle body 61 stop at the next activity target area.

[0112] In the Fig. 13 and Fig. In example 14, the unmanned transport vehicle moves 6 , which was stopped at the first work area WA1, to the next, third work area WA3, to which the unmanned transport vehicle 6 The vehicle is to be moved when all component placement operations at the component placement target devices located at the setting positions "S11", "S12" and "S13" in the first work area WA1 have been switched to "completed work" and stops at the third work area WA3. Alternatively, the unmanned transport vehicle moves 6 , which was stopped at the first work area WA1, to the next, third work area WA3, to which the unmanned transport vehicle 6 The machine is to be moved when the component placement operations at the component placement target devices located at setting positions "S11" and "S12" have been switched to "completed work" and the component placement operation at the component placement target device located at setting position "S13" has been switched to "started work", and stops at the next, third work area WA3. The operator can determine the content of the work in the third work area WA3 using the initial work list information. JH4 detect those displayed on the display unit 203 of the assembly control device 20 or the mobile device 7. If from the motion control unit 63 If such a driving guidance process is carried out, the operating room employee, who is responsible for all aspects of the activity target area where the unmanned transport vehicle is located, can 6 has stopped, has completed the preparatory work to be carried out, in accordance with the unmanned transport vehicle 6 This serves as a guide to the next area of ​​activity. Accordingly, the accumulation of unfinished preparatory work can be prevented as much as possible. <Zweites spezifisches Beispiel des auf den Arbeitsstatus-Informationen basierenden Fahrleitprozesses>

[0113] As described above, the initial worklist information includes JH4 The information J51 related to the standard working time information J50 concerning the permissible dwell time. The motion control unit 63 can the vehicle body 61 , which has stopped at the activity target area where preparatory work (component assembly work) is pending, whose status in the work status information J49 is "unfinished work", move to the next activity target area where the vehicle assembly 61 to be moved when the permissible dwell time specified in Information J51 has expired, and the vehicle body 61 stop at the next activity target area.

[0114] In the Fig. 13 and Fig. In example 14, the unmanned transport vehicle moves 6 , which was stopped at the first work area WA1, to the next, third work area WA3, to which the unmanned transport vehicle 6 The work area is to be moved when the permissible dwell time “SP1” specified in information J51 for the first work area WA1, and corresponding to the first work area WA1, has elapsed, and stops at the third work area WA3. The operator can determine the content of the work at the third work area WA3 using the first work list information displayed on the display unit 203 of the assembly control device 20 or the mobile device 7. JH4 detect. If the motion control unit 63 When such a driving guidance process is carried out, the unmanned transport vehicle moves 6 The operator proceeds sequentially to the activity target areas and stops there, referring to the permissible dwell time based on the standard working time set for each preparatory task. The operating room employee can complete the preparatory work taking into account the permissible dwell time of the unmanned transport vehicle. 6 , which has stopped, as a guideline for the total working time required to complete all preparatory work in the activity target area. Accordingly, the operating room employee can carry out the preparatory work in each of the activity target areas according to the cycle of the unmanned transport vehicle. 6 Perform the process of moving and stopping as a work cycle.

[0115] In addition, the warning unit checks 64 of the unmanned transport vehicle 6 a remaining period of time that remains before the dwell time of the vehicle body 61 The system reaches the permissible dwell time specified in information J51 and issues a warning when the remaining time approaches a predefined threshold. The operating room staff member can then proceed with preparatory work on the activity target areas, taking into account the warning issued by the system. 64 Carry out the issued warning. <Drittes spezifisches Beispiel des auf den Arbeitsstatus-Informationen basierenden Fahrleitprozesses>

[0116] As described above, the initial worklist information includes JH4 The warning time information J46, the stop time information J47, and the production execution time window information J48 define the time limit for starting component placement work (preparatory work) at the component placement target device. Upon detecting that priority work is pending, which is the preparatory work to be initiated first, the work sequence determination unit updates based on the time limit. 343 the work status information J49. Fig. 15 is an explanatory view that displays second worklist information JH4A represents, which are updated when the workflow determination unit 343 has recognized that a priority task is pending. In the case of the Fig. In the example shown in Figure 15, the status of all component placement operations in the first work area WA1 is "completed," and the status of the component placement operations at the component placement target fixtures located at setting positions "S31" and "S32" in the third work area WA3 is "completed." The component placement operation at the component placement target fixture located at setting position "S62" in the sixth work area WA6 is shown as priority work, the time limit of which, as specified in the warning time information J46, the stop time information J47, and the production execution time window information J48, is approaching.

[0117] When it is recognized that the component placement work at the component placement target device located at the setting position “S62” is the priority work, the work sequence determination unit 343 The status of the component placement operations corresponding to the setting positions "S33", "S34", "S35", "S41", "S42" and "S61", which come after setting position "S32", where the status of the component placement work is "completed work", and before setting position "S62", is changed to "skip". The component placement work that is determined by the work sequence control unit 343 If the work status information J49 has been changed to "skip", it is preparatory work that has been postponed to prioritize the execution of the priority work.

[0118] The second worklist information JH4A , in which the work status information J49 is from the work progress determination unit 343 Updates received upon detection of priority work will be communicated via the communication unit. 31 to the assembly control devices 20 of the component assembly machines 2 , the unmanned transport vehicle 6 and the mobile device 7 was sent. If the second worklist information JH4A into the assembly control devices 20 of the component assembly machines 2 The second worklist information will be entered JH4A displayed on the display units 203 of the assembly control devices 20. If the second work list information JH4A The second worklist information will be entered into the mobile device 7 carried by the operating room employee. JH4A displayed on the mobile device 7. If the second worklist information JH4A into the unmanned transport vehicle 6 The movement of the unmanned transport vehicle will be entered. 6 according to the second worklist information JH4A controlled.

[0119] Fig. 16 is an explanatory view that shows the motion control unit 63 according to the second worklist information JH4A This represents the executed driving control process. Upon detecting that priority work is pending, due to the time constraints specified in the warning time information J46, the stop time information J47, and the production execution time window information J48, the motion control unit moves. 63 the vehicle body 61 regardless of the status of the preparatory work in the activity target area where the vehicle body is to be built 61 before it is moved, to the activity target area that corresponds to the priority work, and stops the vehicle body at the activity target area.

[0120] In the Fig. 15 and Fig. In example 16, the unmanned transport vehicle moves 6 , which had stopped at the third work area WA3, regardless of the status of the preparatory work in the third work area WA3 to the setting position “S62” in the sixth work area WA6, when the motion control unit 63 Recognizing that the priority work is pending, the vehicle passes through the fourth work area WA4 and stops at the sixth work area WA6, which corresponds to the priority work. When the priority work is pending, with the time limit for starting work approaching as described above, the unmanned transport vehicle moves 6 quickly to the sixth work area WA6, which is the activity target area where the priority work is to be carried out, and stops there. By moving to the sixth work area WA6, where the unmanned transport vehicle 6 If the work has stopped, the OP employee can perform the priority work. The OP employee can select the content of the priority work in the sixth work area WA6 using the second work list information displayed on the display unit 203 of the assembly control device 20 or the mobile device 7. JH4A To prioritize the execution of priority work at the setting position “S62” in the sixth work area WA6, the component placement work corresponding to setting positions “S33”, “S34”, “S35”, “S41”, “S42” and “S61”, which has been postponed (set to “skip”), is transferred to the next work plan. <Viertes spezifisches Beispiel eines auf den Arbeitsstatus-Informationen basierenden Fahrleitprozesses >

[0121] Fig. 17 is an explanatory view, the third worklist information JH4B represents, which are updated when the workflow determination unit 343 realized that preparatory work could not begin. Fig. 18 is an explanatory view that illustrates the motion control unit 63 according to the third worklist information JH4B represents the executed traffic control process.

[0122] There is a case in which the assembly control device controls 20 components of each component assembly machine. 2 the component assembly line 2L information JH03 regarding the feasibility / infeasibility of work ( Fig. 18) will be issued. The information JH03 The feasibility / infeasibility of work indicates the feasibility / infeasibility of initiating preparatory work that has not yet been carried out. For example, if the component placement work involves the placement of parts on the component assembly machines. 2 established work areas WA arranged component feeding devices 241 , 245 and 246 If a new component storage element cannot be started, the assembly control device 20 provides the information JH03 Regarding the feasibility / non-feasibility of work, indicating that the component assembly work cannot begin.

[0123] The information output by the assembly control device 20 JH03 The feasibility / non-feasibility of work will be determined via the communication unit. 31 (the first information gathering unit) into the work plan management device 3 entered. If the information JH03 The feasibility / non-feasibility of work is entered into the work plan management device. 3 The unit of measurement for the workflow is determined by the input. 343 , whether the preparatory work in the work area WA at the assembly control device 20, which contains the information JH03 has issued a statement regarding the feasibility / infeasibility of work, corresponding component assembly machine 2 can be initiated. If, based on the information JH03 The work progress determination unit is updated when it is determined that preparatory work cannot begin, based on the feasibility / non-feasibility of work. 343 The work status information J49. The in Fig. 17 third worklist information shown JH4B This is worklist information that was updated when the work history determination unit was set. 343 realized that preparatory work could not begin.

[0124] In the Fig. 17 and Fig. The example shown in 18 features the unmanned transport vehicle. 6 The process has stopped at the first work area WA1, and the status of all component placement work in the first work area WA1 is "completed work". The information JH03 The feasibility / non-feasibility of work is determined by the assembly control device 20 of the third component assembly machine 2C, on which the third work area WA3 is set up. If the work sequence determination unit 343 based on the information JH03 The unit determining the work process is determined by the feasibility / infeasibility of work, specifically that component assembly work cannot begin in the third work area WA3. 343 The status of the component placement operations corresponding to the setting positions "S31", "S32", "S33", "S34" and "S35" in the third work area WA3 is changed to "suspended". The work sequence determination unit 343 Component assembly work, which is set to "suspended" in the work status information J49, refers to preparatory work that is suspended until it can be started.

[0125] The third worklist information JH4B , in which the work status information J49 is from the work progress determination unit 343 upon recognizing that preparatory work cannot begin, based on the information JH03 Updates regarding the feasibility / non-feasibility of work will be communicated via the communication unit. 31 to the assembly control devices 20 of the component assembly machines 2 , the unmanned transport vehicle 6 and the mobile device 7 is sent. If the third worklist information JH4B into the assembly control devices 20 of the component assembly machines 2 The third worklist information will be entered JH4B displayed on the display units 203 of the assembly control devices 20. If the third work list information JH4B The third worklist information is entered into the mobile device 7 carried by the operating room employee. JH4B displayed on the mobile device 7. If the third worklist information JH4B into the unmanned transport vehicle 6 The movement of the unmanned transport vehicle will be entered. 6 according to the third worklist information JH4B controlled.

[0126] If the vehicle body 61 stops and the motion control unit 63 according to the third worklist information JH4B determined that the preparatory work on the next activity target area, to which the vehicle structure will be attached 61 The motion control unit prevents the movement from being started if it is to be moved. 63 a movement of the vehicle body 61 does not correspond to the area of ​​activity and shifts the vehicle structure 61 into standby mode until preparatory work can begin.

[0127] In the Fig. 17 and Fig. The motion control unit is determined by the example shown in section 18. 63 , that with the preparatory work on the third work area WA3, which is the next activity target area to which the unmanned transport vehicle will be deployed 6 The movement cannot begin if the unmanned transport vehicle is not in operation. 6 at the first work area WA1. In this case, a movement of the unmanned transport vehicle 6 The vehicle is not permitted to proceed to the third work area WA3 and is placed in standby mode at the first work area WA1 until preparatory work can begin in the third work area WA3. As described above, if preparatory work is to begin at the next target work area to which the unmanned transport vehicle is scheduled to proceed, the vehicle will be placed in standby mode at the first work area WA1 until preparatory work can begin in the third work area WA3. 6 The unmanned transport vehicle is not yet ready to be moved. 6 It is put into standby mode on site. By recognizing that the unmanned transport vehicle is present 6 If the operator is in standby mode, they can recognize that preparatory work in the next activity target area cannot begin. Furthermore, the operator can also determine this based on the third work list information displayed on the display unit 203 of the assembly control device 20 or the mobile device 7. JH4B Recognize that preparatory work in the next activity target area cannot begin. <Fünftes spezifische Beispiel des auf den Arbeitsstatus-Informationen basierenden Fahrleitprozesses>

[0128] Fig. 19 is an explanatory view, the fourth worklist information JH4C represents, which are updated when the workflow determination unit 343 has recognized that urgent work needs to be done. Fig. 20 is an explanatory view that shows the motion control unit 63 according to the fourth worklist information JH4C represents the executed traffic control process.

[0129] There is a case in which the assembly control device controls 20 components of each component assembly machine. 2 the component assembly line 2L Emergency call information JH04 ( Fig. 20) will be issued. The emergency call information JH04 issue a call for urgent work to be carried out on the component assembly machine 2 Urgent work is work of high urgency and belongs to a type that differs from preparatory work. An example of urgent work is taking measures against a malfunction of the component assembly machine. 2 .

[0130] The emergency call information issued by the assembly control device 20 JH04 are via the communication unit 31 (the second information gathering unit) into the work plan management device 3 entered. If the emergency call information JH04 into the work plan management device 3 The work process determination unit recognizes the input. 343 , that one of the mounting control device 20, which carries the emergency call information JH04 has issued, corresponding component assembly machine 2 Urgent work needs to be performed. Upon detecting that urgent work is pending, the work process determination unit updates. 343 The work status information J49. The in Fig. 19 fourth worklist information shown JH4C These are worklist information that are updated when the work history determination unit 343 has recognized that urgent work is needed.

[0131] In the Fig. 19 and Fig. In the example shown, the status of all component placement operations in the first work area WA1 is "completed work," and the status of the component placement operations at the component placement target devices located at the setting positions "S31" and "S32" in the third work area WA3 is "completed work." This applies when the unmanned transport vehicle is stopped at the third work area WA3. 6 The emergency call information is transmitted by the assembly control device 20 of the fifth component assembly machine 2E, on which the fifth work area WA5 is set up. JH04 Issued upon detection that urgent work needs to be carried out on the fifth component assembly machine 2E, based on the emergency call information. JH04 adds the work process determination unit 343 Information to which a work status of "urgent work" is attached, indicating that urgent work is pending in the fifth work area WA5, is entered into the work status information J49. Furthermore, the work progress determination unit 343 The status of the component placement tasks corresponding to the setting positions "S33", "S34", "S35", "S41" and "S42", which come after setting position "S32", where the status of the component placement work was changed to "completed work", and before the inserted "urgent work", is changed to "skip". This is determined by the work sequence control unit. 343 Component assembly work that has been set to "skip" in the work status information J49 is preparatory work that is postponed to prioritize urgent work.

[0132] The fourth worklist information JH4C , in which the work status information J49 is from the work progress determination unit 343 in recognizing that urgent work is pending, based on the emergency call information JH04 Updates will be communicated via the communication unit 31 to the assembly control devices 20 of the component assembly machines 2 , the unmanned transport vehicle 6 and the mobile device 7 was sent. If the fourth worklist information JH4C into the assembly control devices 20 of the component assembly machines 2 The fourth worklist information will be entered JH4C displayed on the display units 203 of the assembly control devices 20. When the fourth work list information JH4C The fourth worklist information is entered into the mobile device 7 carried by the operating room employee. JH4C displayed on the mobile device 7. If the fourth worklist information JH4C into the unmanned transport vehicle 6 The movement of the unmanned transport vehicle will be entered. 6 according to the fourth worklist information JH4C controlled.

[0133] Upon recognizing that urgent work is required, based on the emergency call information. JH04 updated fourth worklist information JH4C moves the motion control unit 63 the vehicle body 61 regardless of the status of the preparatory work in the activity target area where the vehicle body is to be built 61 was stopped before being moved to the work area WA at the component assembly machine 2 , which contains the emergency call information JH04 has issued, and maintains the vehicle body 61 at the work area WA to.

[0134] In the Fig. 19 and Fig. The motion control unit recognizes the 20 examples shown. 63 , that the urgent work to be carried out on the fifth component assembly machine 2E, on which the fifth work area WA5 is set up, is due when the unmanned transport vehicle 6 The vehicle stops at the first work area WA1. In this case, the unmanned transport vehicle moves 6 Regardless of the status of the preparatory work in the third work area WA3, the vehicle passes through the fourth work area WA4 and stops at the fifth work area WA5, which corresponds to the urgent work. As described above, the unmanned transport vehicle moves 6 When urgent work of a different type than preparatory work is required, the vehicle quickly proceeds to the fifth work area WA5 at the fifth component assembly machine 2E, where the urgent work is to be performed, and stops there. By moving to the fifth work area WA5, where the unmanned transport vehicle is located... 6 If the work has been stopped, the OP employee can carry out the urgent work. The OP employee can select the content of the urgent work in the fifth work area WA5 using the fourth work list information displayed on the display unit 203 of the assembly control device 20 or the mobile device 7. JH4C To prioritize urgent work in the fifth work area WA5, component assembly tasks corresponding to the settings "S33", "S34", "S35", "S41", and "S42" that have been postponed (set to "skip") are carried over to the next work plan. If the urgency of the urgent work in the fifth work area WA5 is low, the component assembly tasks corresponding to the settings "S33", "S34", "S35", "S41", and "S42" cannot be postponed (set to "skip").

[0135] The specific embodiments described above mainly comprise the following inventions.

[0136] A component assembly system according to one aspect of the present invention comprises: a component assembly line in which several component assembly machines are connected to one another, each of the component assembly machines being designed to mount a component onto a substrate for the production of a component-equipped substrate; a work plan management device designed to manage a plan for preparatory work to be carried out by an employee in accordance with the production of the component-equipped substrate in a work area set up in advance at each of the several component assembly machines; and an unmanned transport vehicle that can be moved autonomously along a predetermined route passing by the work areas.The work plan management device includes an activity target specification unit designed to specify an activity target area for the planned preparatory work to be performed by the employee among the work areas. The unmanned transport vehicle includes a vehicle body comprising a loading platform onto which an element for the preparatory work is loaded, and a motion control unit designed to guide the employee through a driving process to successively move and stop the vehicle body to and at the activity target areas.

[0137] In the component assembly system, the activity objective specification unit of the work plan management device specifies the activity objective area designated for the preparatory work performed by the employee among the work areas set up at the component assembly machines of the component assembly line. The unmanned transport vehicle, carrying the element for the preparatory work on its loading platform, moves sequentially to the activity objective areas and stops there to guide the employee. Following the unmanned transport vehicle's route, the employee can then proceed and perform the preparatory work in the activity objective area where the unmanned transport vehicle has stopped.The employee moves according to the unmanned transport vehicle as a guide and can easily identify the component assembly machine on which the preparatory work is to be carried out, thus enabling the employee to carry out the preparatory work more efficiently.

[0138] In this component assembly system, the multiple component assembly machines can be arranged in parallel at the work areas and each comprise multiple component loading devices to which a component storage element containing a component can be attached; the preparatory work can comprise component placement work for loading the component loading devices with the component storage elements; and the activity target specification unit can specify a work area among the work areas, in which a component placement target device is arranged, as the activity target area, wherein the component placement target device is a component loading device in which the component placement work can be carried out.

[0139] In this embodiment, if the target area for the component loading device is located at the point where the component loading operation is to be performed, the unmanned transport vehicle moves to this target area and stops there. The employee can then follow the unmanned transport vehicle as a guide and perform the component loading operation at the target area where the vehicle has stopped.

[0140] In this component assembly system, the work plan management device can further include a work progress determination unit designed to monitor the status of all preparatory work performed at each of the activity target areas specified by the activity target specification unit and to determine each of the processes as work started, work completed, or work in progress. The motion control unit executes the motion control process according to the result of the determination by the work progress determination unit.

[0141] In this embodiment, the movement of the unmanned transport vehicle along the activity target areas can be controlled on a real-time basis according to the status of the preparatory work determined by the work process control unit, i.e., work started, work completed or work in progress.

[0142] In this component assembly system, if the vehicle body stops at the activity target area where preparatory work is pending and its status is "unfinished work", the motion control unit can move the vehicle body to the next activity target area to which the vehicle body is to be moved if the status of all preparatory work in the activity target area has been changed to "completed work" or if the status of all preparatory work except one has been changed to "completed work" and the status of that one preparatory work has been changed to "started work", and stop the vehicle body at the next activity target area.

[0143] In this embodiment, the employee who has completed all preparatory work at the work area where the unmanned transport vehicle has stopped can move to the next work area, following the unmanned transport vehicle as a guide. This largely prevents the accumulation of unfinished preparatory work.

[0144] With this component assembly system, a time limit can be set for the start of preparatory work, and upon detection that a priority work is pending which is a preparatory work to be initiated as a priority due to the time limit, the motion control unit can move the vehicle body to a target area corresponding to the priority work, regardless of the status of the preparatory work in the activity target area where the vehicle body was stopped before it is moved, and stop the vehicle body in the activity target area.

[0145] In this embodiment, if a priority task is pending and the time limit for starting work is approaching, the unmanned transport vehicle moves quickly to the work area where the priority task is to be performed and stops there. By moving to the work area where the unmanned transport vehicle has stopped, the employee can then carry out the priority task.

[0146] In this component assembly system, a standard working time required from the start to the completion of a job can be set for each type of preparatory work, and when the vehicle body stops at the activity target area where preparatory work is pending, the motion control unit can calculate a permissible dwell time of the vehicle body at the activity target area based on a quantity of work of each type of preparatory work and the standard working time, move the vehicle body to the next activity target area to which the vehicle body is to be moved after the permissible dwell time has elapsed, and stop the vehicle body at the next activity target area.

[0147] In this embodiment, the unmanned transport vehicle moves to the target areas sequentially, taking into account the permissible dwell time corresponding to the standard working time set for each preparatory task, and stops there. The employee can then perform the preparatory work, considering the permissible dwell time of the unmanned transport vehicle while it is stopped, as the total working time required to complete all preparatory tasks in the target area. Accordingly, the employee can perform the preparatory work in the target areas as a work cycle within the cycle of the unmanned transport vehicle as it moves and stops.

[0148] In this component assembly system, the unmanned transport vehicle can check the remaining time before the dwell time of the vehicle assembly reaches the permissible dwell time, and furthermore include a warning unit that emits a warning tone when the remaining time reaches a predetermined threshold.

[0149] In this embodiment, the employee can carry out the preparatory work on the activity target areas, taking into account the warning issued by the warning unit.

[0150] In the component assembly system, the work plan management device may further include an initial information retrieval unit designed to retrieve information from the component assembly machine regarding the feasibility / non-feasibility of work, indicating whether to begin preparatory work whose status is incomplete work.When the vehicle body is stopped, the motion control unit is designed to determine, based on feasibility / imfeasibility information, whether preparatory work can be initiated at the next activity target area to which the vehicle body is to be moved, and in the event that it is impossible to begin preparatory work, the motion control unit is designed to prevent the vehicle body from moving to the activity target area and to put the vehicle body into a standby state until preparatory work can begin.

[0151] In this embodiment, the employee can recognize that preparatory work on the next activity target area cannot begin by recognizing that the unmanned transport vehicle has been put into standby mode.

[0152] In this component assembly system, the work plan management device may further include a second information retrieval unit designed to retrieve emergency call information from the component assembly machine indicating a call to perform urgent work on the machine. Upon detecting the urgent work based on the emergency call information, the motion control unit is designed to move the vehicle body, regardless of the status of preparatory work in the activity target area where the vehicle body was stopped before moving, to the work area on the component assembly machine that issued the emergency call information and to stop the vehicle body at that work area.

[0153] In this embodiment, if urgent work of a type other than preparatory work is required, the unmanned transport vehicle moves quickly to the work area on the component assembly machine where the urgent work is to be performed and stops there. The employee can then carry out the urgent work by going to the work area where the unmanned transport vehicle has stopped.

[0154] As described above, the present invention provides the component assembly system by which the efficiency of the preparatory work carried out by the employee in the production of the component-equipped substrate by the component assembly machines of the component assembly line can be improved. Reference symbol list 1-component assembly system 2-component assembly machine 2L Component Assembly Line 241, 245, 246 Component loading device 3 Work plan management device 31 Communication unit (first information gathering unit, second information gathering unit) 34 Control unit 341 Component Placement Monitoring Unit 342 Work Administration Unit 3421 Activity Objective Specification Unit 343 Work process determination unit 6 unmanned transport vehicle 61 Vehicle body 62 loading area 63 Motion control unit 64 Warning unit JH01 Information on the type of component provided JH02 Inventory Recording Information JH03 Information on the feasibility / non-feasibility of work JH04 Emergency call information JH1 setting information JH2 Production Plan Information JH3 substrate information JH4, JH4A, JH4B, JH4C Worklist Information WA work area QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2017224720 A

[0004] < / arbeitsverwaltungseinheit>

Claims

[1] Component assembly system comprising: a component assembly line in which several component assembly machines are interconnected, each of which is designed to mount a component onto a substrate to produce a component-equipped substrate; a work plan management device designed to manage a plan for preparatory work to be carried out by an employee in accordance with the manufacture of the component-equipped substrate in a work area pre-configured at each of the several component assembly machines; and an unmanned transport vehicle that can move autonomously along a predetermined route passing by the work areas, wherein The work plan management device includes an activity objective specification unit designed to specify an activity objective area for the planned preparatory work to be carried out by the employee under the work areas, and The unmanned transport vehicle includes: a vehicle body that includes a loading platform onto which an element for preparatory work is loaded, and a motion control unit designed to guide the employee through a driving process to successively move and stop the vehicle body to and at the activity target areas. [2] Component assembly system according to claim 1, wherein the several component assembly machines are arranged in parallel at the work areas and each includes several component loading devices to which a component storage element containing a component can be attached, The preparatory work includes component assembly work for the assembly of the component loading devices with the component storage elements, and The activity target specification unit is designed to specify a work area in which a component placement target device is arranged as an activity target area among the work areas, wherein the component placement target device is a component loading device in which the component placement work can be carried out. [3] Component assembly system according to claim 1 or 2, wherein The work plan management device further comprises a work progress determination unit designed to monitor the status of all preparatory work performed at each of the activity goal areas as specified by the activity goal specification unit, and categorizes each of the processes as work started, work completed, or work in progress, and The motion control unit executes the driving guidance process according to a result determined by the work process determination unit. [4] Component assembly system according to claim 3, wherein the motion control unit is designed to move the vehicle body to the next activity target area to which the vehicle body is to be moved when the vehicle body stops at the activity target area where preparatory work is pending and the status of which is incomplete work, if the status of all preparatory work in the activity target area has been changed to completed work or if the status of the preparatory work except for one has been changed to completed work and the status of one of the preparatory work has been changed to started work, and to stop the vehicle body at the next activity target area. [5] Component assembly system according to claim 4, wherein Regarding preparatory work, a time limit is set for the start of work, and The motion control unit is designed, upon detection that priority work is pending, which is preparatory work that must be initiated as a priority due to time constraints, to move the vehicle body to a target area corresponding to the priority work, regardless of the status of the preparatory work in the target area where the vehicle body was stopped before being moved, and to stop the vehicle body at the target area. [6] Component assembly system according to claim 3, wherein for each type of preparatory work a standard working time is set, from the start to the completion of the work, and The motion control unit is designed to calculate, when the vehicle body stops at the activity target area where preparatory work is pending and whose status is unfinished, a permissible dwell time of the vehicle body at the activity target area based on a quantity of work of each type of preparatory work and the standard working time, to move the vehicle body to the next activity target area after the permissible dwell time has elapsed, and to stop the vehicle body at the next activity target area. [7] Component assembly system according to claim 6, wherein the unmanned transport vehicle checks the remaining time period before the dwell time of the vehicle body reaches the permissible dwell time, and further comprises a warning unit that emits a warning tone when the remaining time reaches a predetermined threshold. [8] Component assembly system according to any one of claims 3 to 7, wherein The work plan management device further comprises an initial information retrieval unit designed to retrieve information from the component assembly machine regarding the feasibility / non-feasibility of work, indicating whether preparatory work should commence, the status of which is work in progress. The motion control unit is designed to determine, based on feasibility / imfeasibility information, whether preparatory work can be initiated at the next activity target area to which the vehicle body is to be moved when the vehicle body is stopped, and the motion control unit is designed, in the event that it is impossible to begin preparatory work, not to allow the vehicle body to move to the activity target area and to put the vehicle body into a standby state until preparatory work can begin. [9] Component assembly system according to any one of claims 3 to 8, wherein The work plan management device further comprises a second information retrieval unit designed to retrieve emergency call information from the component assembly machine indicating a call to perform urgent work on the component assembly machine, and The motion control unit is designed to move the vehicle body to the work area at the component assembly machine that issued the emergency call information upon detection of the presence of urgent work based on the emergency call information, regardless of the status of the preparatory work in the activity target area where the vehicle body was stopped before being moved, and to stop the vehicle body at the work area.